| 1 | // |
| 2 | // Academic License - for use in teaching, academic research, and meeting |
| 3 | // course requirements at degree granting institutions only. Not for |
| 4 | // government, commercial, or other organizational use. |
| 5 | // |
| 6 | // File: cartesian_trajectory_planner.cpp |
| 7 | // |
| 8 | // Code generated for Simulink model 'cartesian_trajectory_planner'. |
| 9 | // |
| 10 | // Model version : 1.130 |
| 11 | // Simulink Coder version : 9.3 (R2020a) 18-Nov-2019 |
| 12 | // C/C++ source code generated on : Tue May 19 17:06:24 2020 |
| 13 | // |
| 14 | // Target selection: ert.tlc |
| 15 | // Embedded hardware selection: Generic->Unspecified (assume 32-bit Generic) |
| 16 | // Code generation objectives: Unspecified |
| 17 | // Validation result: Not run |
| 18 | // |
| 19 | #include "cartesian_trajectory_planner.h" |
| 20 | #include "cartesian_trajectory_planner_private.h" |
| 21 | |
| 22 | // Block signals (default storage) |
| 23 | B_cartesian_trajectory_planne_T cartesian_trajectory_planner_B; |
| 24 | |
| 25 | // Block states (default storage) |
| 26 | DW_cartesian_trajectory_plann_T cartesian_trajectory_planner_DW; |
| 27 | |
| 28 | // Real-time model |
| 29 | RT_MODEL_cartesian_trajectory_T cartesian_trajectory_planner_M_ = |
| 30 | RT_MODEL_cartesian_trajectory_T(); |
| 31 | RT_MODEL_cartesian_trajectory_T *const cartesian_trajectory_planner_M = |
| 32 | &cartesian_trajectory_planner_M_; |
| 33 | |
| 34 | // Forward declaration for local functions |
| 35 | static void cart_constructLinearTimeScaling(const real_T timeInterval[2], real_T |
| 36 | time, real_T scaling[3]); |
| 37 | static void carte_quaternioncg_quaternioncg(const real_T varargin_1[9], real_T |
| 38 | *obj_a, real_T *obj_b, real_T *obj_c, real_T *obj_d); |
| 39 | static void cartesian__quaternionBase_slerp(real_T q1_a, real_T q1_b, real_T |
| 40 | q1_c, real_T q1_d, real_T q2_a, real_T q2_b, real_T q2_c, real_T q2_d, real_T * |
| 41 | qo_a, real_T *qo_b, real_T *qo_c, real_T *qo_d); |
| 42 | static void cartesia_quaternionBase_slerp_a(real_T q1_a, real_T q1_b, real_T |
| 43 | q1_c, real_T q1_d, real_T q2_a, real_T q2_b, real_T q2_c, real_T q2_d, real_T * |
| 44 | qo_a, real_T *qo_b, real_T *qo_c, real_T *qo_d); |
| 45 | static void cartesian_quaternionBase_mtimes(real_T x_a, real_T x_b, real_T x_c, |
| 46 | real_T x_d, real_T y_a, real_T y_b, real_T y_c, real_T y_d, real_T *o_a, |
| 47 | real_T *o_b, real_T *o_c, real_T *o_d); |
| 48 | static void cartesian_tr_quaternionBase_log(real_T q_a, real_T q_b, real_T q_c, |
| 49 | real_T q_d, real_T *b_q_a, real_T *b_q_b, real_T *b_q_c, real_T *b_q_d); |
| 50 | static void cartesian_trajectory_pl_rottraj(const real_T R0[9], const real_T RF |
| 51 | [9], const real_T varargin_2[3], real_T R[9], real_T omega[3], real_T alpha[3]); |
| 52 | static void cartesian_trajec_emxInit_real_T(emxArray_real_T_cartesian_tra_T |
| 53 | **pEmxArray, int32_T numDimensions); |
| 54 | static void cartes_emxEnsureCapacity_real_T(emxArray_real_T_cartesian_tra_T |
| 55 | *emxArray, int32_T oldNumel); |
| 56 | static void cartesian_trajec_emxInit_char_T(emxArray_char_T_cartesian_tra_T |
| 57 | **pEmxArray, int32_T numDimensions); |
| 58 | static void cartes_emxEnsureCapacity_char_T(emxArray_char_T_cartesian_tra_T |
| 59 | *emxArray, int32_T oldNumel); |
| 60 | static void cartesian_trajec_emxFree_real_T(emxArray_real_T_cartesian_tra_T |
| 61 | **pEmxArray); |
| 62 | static void cartesian_trajec_emxFree_char_T(emxArray_char_T_cartesian_tra_T |
| 63 | **pEmxArray); |
| 64 | static void car_inverseKinematics_setupImpl(b_inverseKinematics_cartesian_T *obj, |
| 65 | f_robotics_manip_internal_IKE_T *iobj_0); |
| 66 | static void c_inverseKinematics_setPoseGoal(b_inverseKinematics_cartesian_T *obj, |
| 67 | const real_T tform[16], const real_T weights[6]); |
| 68 | static void RigidBodyTree_validateConfigu_a(x_robotics_manip_internal_Rig_T *obj, |
| 69 | real_T Q[6]); |
| 70 | static boolean_T cartesian_trajectory_pla_strcmp(const |
| 71 | emxArray_char_T_cartesian_tra_T *a, const emxArray_char_T_cartesian_tra_T *b); |
| 72 | static void rigidBodyJoint_get_JointAxis_a(const c_rigidBodyJoint_cartesian__a_T |
| 73 | *obj, real_T ax[3]); |
| 74 | static void cartesian_trajectory_planne_cat(real_T varargin_1, real_T varargin_2, |
| 75 | real_T varargin_3, real_T varargin_4, real_T varargin_5, real_T varargin_6, |
| 76 | real_T varargin_7, real_T varargin_8, real_T varargin_9, real_T y[9]); |
| 77 | static void rigidBodyJoint_transformBodyT_a(const |
| 78 | c_rigidBodyJoint_cartesian__a_T *obj, const real_T q_data[], const int32_T |
| 79 | *q_size, real_T T[16]); |
| 80 | static void rigidBodyJoint_transformBodyToP(const |
| 81 | c_rigidBodyJoint_cartesian__a_T *obj, real_T T[16]); |
| 82 | static void RigidBodyTree_efficientFKAndJac(x_robotics_manip_internal_Rig_T *obj, |
| 83 | const real_T qv[6], const emxArray_char_T_cartesian_tra_T *body1Name, real_T |
| 84 | T_data[], int32_T T_size[2], emxArray_real_T_cartesian_tra_T *Jac); |
| 85 | static creal_T cartesian_trajectory_plann_sqrt(const creal_T x); |
| 86 | static real_T cartesian_trajectory_plan_xnrm2(int32_T n, const real_T x[9], |
| 87 | int32_T ix0); |
| 88 | static real_T cartesian_trajectory_plan_xdotc(int32_T n, const real_T x[9], |
| 89 | int32_T ix0, const real_T y[9], int32_T iy0); |
| 90 | static void cartesian_trajectory_plan_xaxpy(int32_T n, real_T a, int32_T ix0, |
| 91 | const real_T y[9], int32_T iy0, real_T b_y[9]); |
| 92 | static real_T cartesian_trajectory_pl_xnrm2_a(const real_T x[3], int32_T ix0); |
| 93 | static void cartesian_trajectory__xaxpy_ast(int32_T n, real_T a, const real_T x |
| 94 | [9], int32_T ix0, real_T y[3], int32_T iy0); |
| 95 | static void cartesian_trajectory_p_xaxpy_as(int32_T n, real_T a, const real_T x |
| 96 | [3], int32_T ix0, const real_T y[9], int32_T iy0, real_T b_y[9]); |
| 97 | static void cartesian_trajectory_plan_xswap(const real_T x[9], int32_T ix0, |
| 98 | int32_T iy0, real_T b_x[9]); |
| 99 | static void cartesian_trajectory_plan_xrotg(real_T a, real_T b, real_T *b_a, |
| 100 | real_T *b_b, real_T *c, real_T *s); |
| 101 | static void cartesian_trajectory_plann_xrot(const real_T x[9], int32_T ix0, |
| 102 | int32_T iy0, real_T c, real_T s, real_T b_x[9]); |
| 103 | static void cartesian_trajectory_planne_svd(const real_T A[9], real_T U[9], |
| 104 | real_T s[3], real_T V[9]); |
| 105 | static void cartesian_trajectory_rotm2axang(const real_T R[9], real_T axang[4]); |
| 106 | static void cartesian_IKHelpers_computeCost(const real_T x[6], |
| 107 | f_robotics_manip_internal_IKE_T *args, real_T *cost, real_T W[36], |
| 108 | emxArray_real_T_cartesian_tra_T *Jac, f_robotics_manip_internal_IKE_T **b_args); |
| 109 | static void cartesian_trajectory_planne_eye(real_T b_I[36]); |
| 110 | static void cartesian_tra_emxInit_boolean_T(emxArray_boolean_T_cartesian__T |
| 111 | **pEmxArray, int32_T numDimensions); |
| 112 | static void cartesian_traje_emxInit_int32_T(emxArray_int32_T_cartesian_tr_T |
| 113 | **pEmxArray, int32_T numDimensions); |
| 114 | static void car_emxEnsureCapacity_boolean_T(emxArray_boolean_T_cartesian__T |
| 115 | *emxArray, int32_T oldNumel); |
| 116 | static void carte_emxEnsureCapacity_int32_T(emxArray_int32_T_cartesian_tr_T |
| 117 | *emxArray, int32_T oldNumel); |
| 118 | static real_T cartesian_trajectory_pla_norm_a(const real_T x[6]); |
| 119 | static real_T SystemTimeProvider_getElapsedTi(const |
| 120 | f_robotics_core_internal_Syst_T *obj); |
| 121 | static real_T cartesian_trajectory_p_xnrm2_as(int32_T n, const |
| 122 | emxArray_real_T_cartesian_tra_T *x, int32_T ix0); |
| 123 | static void cartesian_trajectory_pla_qrpf_a(const |
| 124 | emxArray_real_T_cartesian_tra_T *A, int32_T m, int32_T n, |
| 125 | emxArray_real_T_cartesian_tra_T *tau, const emxArray_int32_T_cartesian_tr_T |
| 126 | *jpvt, emxArray_real_T_cartesian_tra_T *b_A, emxArray_int32_T_cartesian_tr_T |
| 127 | *b_jpvt); |
| 128 | static void cartesian_trajectory_pl_xzgetrf(int32_T m, int32_T n, const |
| 129 | emxArray_real_T_cartesian_tra_T *A, int32_T lda, |
| 130 | emxArray_real_T_cartesian_tra_T *b_A, emxArray_int32_T_cartesian_tr_T *ipiv, |
| 131 | int32_T *info); |
| 132 | static void cartesian_trajectory_plan_xtrsm(int32_T m, int32_T n, const |
| 133 | emxArray_real_T_cartesian_tra_T *A, int32_T lda, const |
| 134 | emxArray_real_T_cartesian_tra_T *B, int32_T ldb, |
| 135 | emxArray_real_T_cartesian_tra_T *b_B); |
| 136 | static void cartesian_traje_emxFree_int32_T(emxArray_int32_T_cartesian_tr_T |
| 137 | **pEmxArray); |
| 138 | static void cartesian_trajectory_p_mldivide(const |
| 139 | emxArray_real_T_cartesian_tra_T *A, const emxArray_real_T_cartesian_tra_T *B, |
| 140 | emxArray_real_T_cartesian_tra_T *Y); |
| 141 | static void cartesian_tra_emxFree_boolean_T(emxArray_boolean_T_cartesian__T |
| 142 | **pEmxArray); |
| 143 | static boolean_T DampedBFGSwGradientProjection_a(const |
| 144 | h_robotics_core_internal_Damp_T *obj, const real_T Hg[6], const |
| 145 | emxArray_real_T_cartesian_tra_T *alpha); |
| 146 | static void cartesian_trajectory_planne_inv(const |
| 147 | emxArray_real_T_cartesian_tra_T *x, emxArray_real_T_cartesian_tra_T *y); |
| 148 | static void cartesian_trajectory_plann_diag(const |
| 149 | emxArray_real_T_cartesian_tra_T *v, emxArray_real_T_cartesian_tra_T *d); |
| 150 | static void cartesian_trajectory_pl_sqrt_as(emxArray_real_T_cartesian_tra_T *x); |
| 151 | static boolean_T cartesian_trajectory_planne_any(const |
| 152 | emxArray_boolean_T_cartesian__T *x); |
| 153 | static boolean_T cartesian_tr_isPositiveDefinite(const real_T B[36]); |
| 154 | static boolean_T DampedBFGSwGradientProjectio_as(const |
| 155 | h_robotics_core_internal_Damp_T *obj, const real_T xNew[6]); |
| 156 | static void DampedBFGSwGradientProjection_s(h_robotics_core_internal_Damp_T *obj, |
| 157 | real_T xSol[6], c_robotics_core_internal_NLPS_T *exitFlag, real_T *err, real_T |
| 158 | *iter); |
| 159 | static void cartesian_trajectory_p_isfinite(const |
| 160 | emxArray_real_T_cartesian_tra_T *x, emxArray_boolean_T_cartesian__T *b); |
| 161 | static void cartesi_genrand_uint32_vector_a(uint32_T mt[625], uint32_T u[2]); |
| 162 | static boolean_T cartesian_trajec_is_valid_state(const uint32_T mt[625]); |
| 163 | static real_T cartesian_trajectory_genrandu_a(uint32_T mt[625]); |
| 164 | static real_T cartesia_eml_rand_mt19937ar_ast(uint32_T state[625]); |
| 165 | static void cartesian_trajectory_plan_randn(const real_T varargin_1[2], |
| 166 | emxArray_real_T_cartesian_tra_T *r); |
| 167 | static void cartesian__eml_rand_mt19937ar_a(const uint32_T state[625], uint32_T |
| 168 | b_state[625], real_T *r); |
| 169 | static void cartesian_trajectory_pla_rand_a(real_T varargin_1, |
| 170 | emxArray_real_T_cartesian_tra_T *r); |
| 171 | static void cartes_NLPSolverInterface_solve(h_robotics_core_internal_Damp_T *obj, |
| 172 | const real_T seed[6], real_T xSol[6], real_T *solutionInfo_Iterations, real_T * |
| 173 | solutionInfo_RRAttempts, real_T *solutionInfo_Error, real_T |
| 174 | *solutionInfo_ExitFlag, char_T solutionInfo_Status_data[], int32_T |
| 175 | solutionInfo_Status_size[2]); |
| 176 | static void cart_inverseKinematics_stepImpl(b_inverseKinematics_cartesian_T *obj, |
| 177 | const real_T tform[16], const real_T weights[6], const real_T initialGuess[6], |
| 178 | real_T QSol[6]); |
| 179 | static void cartesian_t_emxInit_f_cell_wrap(emxArray_f_cell_wrap_cartesia_T |
| 180 | **pEmxArray, int32_T numDimensions); |
| 181 | static void c_emxEnsureCapacity_f_cell_wrap(emxArray_f_cell_wrap_cartesia_T |
| 182 | *emxArray, int32_T oldNumel); |
| 183 | static void ca_rigidBodyJoint_get_JointAxis(const |
| 184 | c_rigidBodyJoint_cartesian_tr_T *obj, real_T ax[3]); |
| 185 | static void RigidBodyTree_forwardKinematics(p_robotics_manip_internal_Rig_T *obj, |
| 186 | const real_T qvec[6], emxArray_f_cell_wrap_cartesia_T *Ttree); |
| 187 | static void cartesian_t_emxFree_f_cell_wrap(emxArray_f_cell_wrap_cartesia_T |
| 188 | **pEmxArray); |
| 189 | static void RigidBodyTree_geometricJacobian(p_robotics_manip_internal_Rig_T *obj, |
| 190 | const real_T Q[6], emxArray_real_T_cartesian_tra_T *Jac); |
| 191 | static void matlabCodegenHandle_matlabC_ast(ros_slros_internal_block_Subs_T *obj); |
| 192 | static void matlabCodegenHandle_matlab_astw(ros_slros_internal_block_GetP_T *obj); |
| 193 | static void matlabCodegenHandle_matlabCod_a(robotics_slmanip_internal_b_a_T *obj); |
| 194 | static void cartesian_tr_SystemCore_release(b_inverseKinematics_cartesian_T *obj); |
| 195 | static void cartesian_tra_SystemCore_delete(b_inverseKinematics_cartesian_T *obj); |
| 196 | static void matlabCodegenHandle_matlabCodeg(b_inverseKinematics_cartesian_T *obj); |
| 197 | static void emxFreeStruct_c_rigidBodyJoint(c_rigidBodyJoint_cartesian__a_T |
| 198 | *pStruct); |
| 199 | static void emxFreeStruct_v_robotics_manip_(v_robotics_manip_internal_Rig_T |
| 200 | *pStruct); |
| 201 | static void emxFreeStruct_y_robotics_manip_(y_robotics_manip_internal_Rig_T |
| 202 | *pStruct); |
| 203 | static void emxFreeStruct_b_inverseKinemati(b_inverseKinematics_cartesian_T |
| 204 | *pStruct); |
| 205 | static void emxFreeStruct_robotics_slmanip_(robotics_slmanip_internal_b_a_T |
| 206 | *pStruct); |
| 207 | static void emxFreeStruct_w_robotics_manip_(w_robotics_manip_internal_Rig_T |
| 208 | *pStruct); |
| 209 | static void emxFreeStruct_x_robotics_manip_(x_robotics_manip_internal_Rig_T |
| 210 | *pStruct); |
| 211 | static void emxFreeStruct_f_robotics_manip_(f_robotics_manip_internal_IKE_T |
| 212 | *pStruct); |
| 213 | static void emxFreeStruct_h_robotics_core_i(h_robotics_core_internal_Damp_T |
| 214 | *pStruct); |
| 215 | static void emxFreeStruct_c_rigidBodyJoint1(c_rigidBodyJoint_cartesian_tr_T |
| 216 | *pStruct); |
| 217 | static void emxFreeStruct_o_robotics_manip_(o_robotics_manip_internal_Rig_T |
| 218 | *pStruct); |
| 219 | static void emxFreeStruct_p_robotics_manip_(p_robotics_manip_internal_Rig_T |
| 220 | *pStruct); |
| 221 | static void emxFreeStruct_robotics_slmani_a(robotics_slmanip_internal_blo_T |
| 222 | *pStruct); |
| 223 | static void emxFreeStruct_n_robotics_manip_(n_robotics_manip_internal_Rig_T |
| 224 | *pStruct); |
| 225 | static void matlabCodegenHandle_matlabCo_as(ros_slros_internal_block_Publ_T *obj); |
| 226 | static void cartesian_traj_SystemCore_setup(robotics_slcore_internal_bl_a_T *obj); |
| 227 | static void emxInitStruct_c_rigidBodyJoint(c_rigidBodyJoint_cartesian__a_T |
| 228 | *pStruct); |
| 229 | static void emxInitStruct_v_robotics_manip_(v_robotics_manip_internal_Rig_T |
| 230 | *pStruct); |
| 231 | static void emxInitStruct_y_robotics_manip_(y_robotics_manip_internal_Rig_T |
| 232 | *pStruct); |
| 233 | static void emxInitStruct_b_inverseKinemati(b_inverseKinematics_cartesian_T |
| 234 | *pStruct); |
| 235 | static void emxInitStruct_robotics_slmanip_(robotics_slmanip_internal_b_a_T |
| 236 | *pStruct); |
| 237 | static void emxInitStruct_w_robotics_manip_(w_robotics_manip_internal_Rig_T |
| 238 | *pStruct); |
| 239 | static void emxInitStruct_x_robotics_manip_(x_robotics_manip_internal_Rig_T |
| 240 | *pStruct); |
| 241 | static void emxInitStruct_f_robotics_manip_(f_robotics_manip_internal_IKE_T |
| 242 | *pStruct); |
| 243 | static void emxInitStruct_h_robotics_core_i(h_robotics_core_internal_Damp_T |
| 244 | *pStruct); |
| 245 | static void cartesia_twister_state_vector_a(uint32_T mt[625]); |
| 246 | static void cartesian_tr_eml_rand_mt19937ar(uint32_T state[625]); |
| 247 | static v_robotics_manip_internal_Rig_T *c_RigidBody_RigidBody_astwhqf2a |
| 248 | (v_robotics_manip_internal_Rig_T *obj); |
| 249 | static v_robotics_manip_internal_Rig_T *RigidBody_RigidBody_astwhqf2az |
| 250 | (v_robotics_manip_internal_Rig_T *obj); |
| 251 | static v_robotics_manip_internal_Rig_T *RigidBody_RigidBody_astwhqf2azt |
| 252 | (v_robotics_manip_internal_Rig_T *obj); |
| 253 | static v_robotics_manip_internal_Rig_T *RigidBody_RigidBod_astwhqf2aztt |
| 254 | (v_robotics_manip_internal_Rig_T *obj); |
| 255 | static v_robotics_manip_internal_Rig_T *RigidBody_RigidBo_astwhqf2azttx |
| 256 | (v_robotics_manip_internal_Rig_T *obj); |
| 257 | static v_robotics_manip_internal_Rig_T *RigidBody_RigidB_astwhqf2azttxa |
| 258 | (v_robotics_manip_internal_Rig_T *obj); |
| 259 | static v_robotics_manip_internal_Rig_T *RigidBody_Rigid_astwhqf2azttxab |
| 260 | (v_robotics_manip_internal_Rig_T *obj); |
| 261 | static y_robotics_manip_internal_Rig_T *c_RigidBodyTree_RigidBodyTree_a |
| 262 | (y_robotics_manip_internal_Rig_T *obj, v_robotics_manip_internal_Rig_T *iobj_0, |
| 263 | v_robotics_manip_internal_Rig_T *iobj_1, v_robotics_manip_internal_Rig_T |
| 264 | *iobj_2, v_robotics_manip_internal_Rig_T *iobj_3, |
| 265 | v_robotics_manip_internal_Rig_T *iobj_4, v_robotics_manip_internal_Rig_T |
| 266 | *iobj_5, v_robotics_manip_internal_Rig_T *iobj_6, |
| 267 | v_robotics_manip_internal_Rig_T *iobj_7); |
| 268 | static void cartesian_trajectory_plann_rand(real_T r[5]); |
| 269 | static w_robotics_manip_internal_Rig_T *c_RigidBody_Rigid_b |
| 270 | (w_robotics_manip_internal_Rig_T *obj, c_rigidBodyJoint_cartesian__a_T *iobj_0); |
| 271 | static w_robotics_manip_internal_Rig_T *c_RigidBody_Rigid_i |
| 272 | (w_robotics_manip_internal_Rig_T *obj, c_rigidBodyJoint_cartesian__a_T *iobj_0); |
| 273 | static w_robotics_manip_internal_Rig_T *c_RigidBody_Rigid_l |
| 274 | (w_robotics_manip_internal_Rig_T *obj, c_rigidBodyJoint_cartesian__a_T *iobj_0); |
| 275 | static w_robotics_manip_internal_Rig_T *c_RigidBody_Rigid_lh |
| 276 | (w_robotics_manip_internal_Rig_T *obj, c_rigidBodyJoint_cartesian__a_T *iobj_0); |
| 277 | static w_robotics_manip_internal_Rig_T *c_RigidBody_Rigid_k |
| 278 | (w_robotics_manip_internal_Rig_T *obj, c_rigidBodyJoint_cartesian__a_T *iobj_0); |
| 279 | static void ca_RigidBodyTree_clearAllBodies(x_robotics_manip_internal_Rig_T *obj, |
| 280 | w_robotics_manip_internal_Rig_T *iobj_0, w_robotics_manip_internal_Rig_T |
| 281 | *iobj_1, w_robotics_manip_internal_Rig_T *iobj_2, |
| 282 | w_robotics_manip_internal_Rig_T *iobj_3, w_robotics_manip_internal_Rig_T |
| 283 | *iobj_4, w_robotics_manip_internal_Rig_T *iobj_5, |
| 284 | w_robotics_manip_internal_Rig_T *iobj_6, c_rigidBodyJoint_cartesian__a_T |
| 285 | *iobj_7, c_rigidBodyJoint_cartesian__a_T *iobj_8, |
| 286 | c_rigidBodyJoint_cartesian__a_T *iobj_9, c_rigidBodyJoint_cartesian__a_T |
| 287 | *iobj_10, c_rigidBodyJoint_cartesian__a_T *iobj_11, |
| 288 | c_rigidBodyJoint_cartesian__a_T *iobj_12, c_rigidBodyJoint_cartesian__a_T |
| 289 | *iobj_13, c_rigidBodyJoint_cartesian__a_T *iobj_14, |
| 290 | w_robotics_manip_internal_Rig_T *iobj_15); |
| 291 | static x_robotics_manip_internal_Rig_T *RigidBodyTree_RigidBodyTree_as |
| 292 | (x_robotics_manip_internal_Rig_T *obj, w_robotics_manip_internal_Rig_T *iobj_0, |
| 293 | w_robotics_manip_internal_Rig_T *iobj_1, w_robotics_manip_internal_Rig_T |
| 294 | *iobj_2, w_robotics_manip_internal_Rig_T *iobj_3, |
| 295 | w_robotics_manip_internal_Rig_T *iobj_4, w_robotics_manip_internal_Rig_T |
| 296 | *iobj_5, w_robotics_manip_internal_Rig_T *iobj_6, |
| 297 | c_rigidBodyJoint_cartesian__a_T *iobj_7, c_rigidBodyJoint_cartesian__a_T |
| 298 | *iobj_8, c_rigidBodyJoint_cartesian__a_T *iobj_9, |
| 299 | c_rigidBodyJoint_cartesian__a_T *iobj_10, c_rigidBodyJoint_cartesian__a_T |
| 300 | *iobj_11, c_rigidBodyJoint_cartesian__a_T *iobj_12, |
| 301 | c_rigidBodyJoint_cartesian__a_T *iobj_13, c_rigidBodyJoint_cartesian__a_T |
| 302 | *iobj_14, c_rigidBodyJoint_cartesian__a_T *iobj_15, |
| 303 | w_robotics_manip_internal_Rig_T *iobj_16); |
| 304 | static c_rigidBodyJoint_cartesian__a_T *c_rigidBodyJoint_rigidBodyJoint |
| 305 | (c_rigidBodyJoint_cartesian__a_T *obj, const emxArray_char_T_cartesian_tra_T |
| 306 | *jname, const emxArray_char_T_cartesian_tra_T *jtype); |
| 307 | static w_robotics_manip_internal_Rig_T *cartesian_trajec_RigidBody_copy(const |
| 308 | v_robotics_manip_internal_Rig_T *obj, c_rigidBodyJoint_cartesian__a_T *iobj_0, |
| 309 | c_rigidBodyJoint_cartesian__a_T *iobj_1, w_robotics_manip_internal_Rig_T |
| 310 | *iobj_2); |
| 311 | static void cartesian_RigidBodyTree_addBody(x_robotics_manip_internal_Rig_T *obj, |
| 312 | v_robotics_manip_internal_Rig_T *bodyin, const emxArray_char_T_cartesian_tra_T |
| 313 | *parentName, c_rigidBodyJoint_cartesian__a_T *iobj_0, |
| 314 | c_rigidBodyJoint_cartesian__a_T *iobj_1, w_robotics_manip_internal_Rig_T |
| 315 | *iobj_2); |
| 316 | static void inverseKinematics_set_RigidBody(b_inverseKinematics_cartesian_T *obj, |
| 317 | y_robotics_manip_internal_Rig_T *rigidbodytree, |
| 318 | w_robotics_manip_internal_Rig_T *iobj_0, w_robotics_manip_internal_Rig_T |
| 319 | *iobj_1, w_robotics_manip_internal_Rig_T *iobj_2, |
| 320 | w_robotics_manip_internal_Rig_T *iobj_3, w_robotics_manip_internal_Rig_T |
| 321 | *iobj_4, w_robotics_manip_internal_Rig_T *iobj_5, |
| 322 | w_robotics_manip_internal_Rig_T *iobj_6, w_robotics_manip_internal_Rig_T |
| 323 | *iobj_7, w_robotics_manip_internal_Rig_T *iobj_8, |
| 324 | w_robotics_manip_internal_Rig_T *iobj_9, w_robotics_manip_internal_Rig_T |
| 325 | *iobj_10, w_robotics_manip_internal_Rig_T *iobj_11, |
| 326 | w_robotics_manip_internal_Rig_T *iobj_12, w_robotics_manip_internal_Rig_T |
| 327 | *iobj_13, w_robotics_manip_internal_Rig_T *iobj_14, |
| 328 | c_rigidBodyJoint_cartesian__a_T *iobj_15, c_rigidBodyJoint_cartesian__a_T |
| 329 | *iobj_16, c_rigidBodyJoint_cartesian__a_T *iobj_17, |
| 330 | c_rigidBodyJoint_cartesian__a_T *iobj_18, c_rigidBodyJoint_cartesian__a_T |
| 331 | *iobj_19, c_rigidBodyJoint_cartesian__a_T *iobj_20, |
| 332 | c_rigidBodyJoint_cartesian__a_T *iobj_21, c_rigidBodyJoint_cartesian__a_T |
| 333 | *iobj_22, c_rigidBodyJoint_cartesian__a_T *iobj_23, |
| 334 | c_rigidBodyJoint_cartesian__a_T *iobj_24, c_rigidBodyJoint_cartesian__a_T |
| 335 | *iobj_25, c_rigidBodyJoint_cartesian__a_T *iobj_26, |
| 336 | c_rigidBodyJoint_cartesian__a_T *iobj_27, c_rigidBodyJoint_cartesian__a_T |
| 337 | *iobj_28, c_rigidBodyJoint_cartesian__a_T *iobj_29, |
| 338 | c_rigidBodyJoint_cartesian__a_T *iobj_30, c_rigidBodyJoint_cartesian__a_T |
| 339 | *iobj_31, c_rigidBodyJoint_cartesian__a_T *iobj_32, |
| 340 | c_rigidBodyJoint_cartesian__a_T *iobj_33, c_rigidBodyJoint_cartesian__a_T |
| 341 | *iobj_34, c_rigidBodyJoint_cartesian__a_T *iobj_35, |
| 342 | c_rigidBodyJoint_cartesian__a_T *iobj_36, c_rigidBodyJoint_cartesian__a_T |
| 343 | *iobj_37, c_rigidBodyJoint_cartesian__a_T *iobj_38, |
| 344 | c_rigidBodyJoint_cartesian__a_T *iobj_39, w_robotics_manip_internal_Rig_T |
| 345 | *iobj_40, x_robotics_manip_internal_Rig_T *iobj_41); |
| 346 | static h_robotics_core_internal_Damp_T *DampedBFGSwGradientProjection_D |
| 347 | (h_robotics_core_internal_Damp_T *obj); |
| 348 | static void emxInitStruct_c_rigidBodyJoint1(c_rigidBodyJoint_cartesian_tr_T |
| 349 | *pStruct); |
| 350 | static void emxInitStruct_o_robotics_manip_(o_robotics_manip_internal_Rig_T |
| 351 | *pStruct); |
| 352 | static void emxInitStruct_p_robotics_manip_(p_robotics_manip_internal_Rig_T |
| 353 | *pStruct); |
| 354 | static void emxInitStruct_robotics_slmani_a(robotics_slmanip_internal_blo_T |
| 355 | *pStruct); |
| 356 | static void emxInitStruct_n_robotics_manip_(n_robotics_manip_internal_Rig_T |
| 357 | *pStruct); |
| 358 | static n_robotics_manip_internal_Rig_T *cartesian_t_RigidBody_RigidBody |
| 359 | (n_robotics_manip_internal_Rig_T *obj); |
| 360 | static n_robotics_manip_internal_Rig_T *cartesian_RigidBody_RigidBody_a |
| 361 | (n_robotics_manip_internal_Rig_T *obj); |
| 362 | static n_robotics_manip_internal_Rig_T *cartesia_RigidBody_RigidBody_as |
| 363 | (n_robotics_manip_internal_Rig_T *obj); |
| 364 | static n_robotics_manip_internal_Rig_T *cartesi_RigidBody_RigidBody_ast |
| 365 | (n_robotics_manip_internal_Rig_T *obj); |
| 366 | static n_robotics_manip_internal_Rig_T *cartes_RigidBody_RigidBody_astw |
| 367 | (n_robotics_manip_internal_Rig_T *obj); |
| 368 | static n_robotics_manip_internal_Rig_T *carte_RigidBody_RigidBody_astwh |
| 369 | (n_robotics_manip_internal_Rig_T *obj); |
| 370 | static n_robotics_manip_internal_Rig_T *cart_RigidBody_RigidBody_astwhq |
| 371 | (n_robotics_manip_internal_Rig_T *obj); |
| 372 | static n_robotics_manip_internal_Rig_T *car_RigidBody_RigidBody_astwhqf |
| 373 | (n_robotics_manip_internal_Rig_T *obj); |
| 374 | static o_robotics_manip_internal_Rig_T *ca_RigidBody_RigidBody_astwhqf2 |
| 375 | (o_robotics_manip_internal_Rig_T *obj); |
| 376 | static p_robotics_manip_internal_Rig_T *car_RigidBodyTree_RigidBodyTree |
| 377 | (p_robotics_manip_internal_Rig_T *obj, n_robotics_manip_internal_Rig_T *iobj_0, |
| 378 | n_robotics_manip_internal_Rig_T *iobj_1, n_robotics_manip_internal_Rig_T |
| 379 | *iobj_2, n_robotics_manip_internal_Rig_T *iobj_3, |
| 380 | n_robotics_manip_internal_Rig_T *iobj_4, n_robotics_manip_internal_Rig_T |
| 381 | *iobj_5, n_robotics_manip_internal_Rig_T *iobj_6, |
| 382 | n_robotics_manip_internal_Rig_T *iobj_7); |
| 383 | int32_T div_s32_floor(int32_T numerator, int32_T denominator) |
| 384 | { |
| 385 | int32_T quotient; |
| 386 | uint32_T absNumerator; |
| 387 | uint32_T absDenominator; |
| 388 | uint32_T tempAbsQuotient; |
| 389 | boolean_T quotientNeedsNegation; |
| 390 | if (denominator == 0) { |
| 391 | quotient = numerator >= 0 ? MAX_int32_T : MIN_int32_T; |
| 392 | |
| 393 | // Divide by zero handler |
| 394 | } else { |
| 395 | absNumerator = numerator < 0 ? ~static_cast<uint32_T>(numerator) + 1U : |
| 396 | static_cast<uint32_T>(numerator); |
| 397 | absDenominator = denominator < 0 ? ~static_cast<uint32_T>(denominator) + 1U : |
| 398 | static_cast<uint32_T>(denominator); |
| 399 | quotientNeedsNegation = ((numerator < 0) != (denominator < 0)); |
| 400 | tempAbsQuotient = absNumerator / absDenominator; |
| 401 | if (quotientNeedsNegation) { |
| 402 | absNumerator %= absDenominator; |
| 403 | if (absNumerator > 0U) { |
| 404 | tempAbsQuotient++; |
| 405 | } |
| 406 | } |
| 407 | |
| 408 | quotient = quotientNeedsNegation ? -static_cast<int32_T>(tempAbsQuotient) : |
| 409 | static_cast<int32_T>(tempAbsQuotient); |
| 410 | } |
| 411 | |
| 412 | return quotient; |
| 413 | } |
| 414 | |
| 415 | static void cart_constructLinearTimeScaling(const real_T timeInterval[2], real_T |
| 416 | time, real_T scaling[3]) |
| 417 | { |
| 418 | real_T linearScaling; |
| 419 | real_T b; |
| 420 | linearScaling = 1.0 / (timeInterval[1] - timeInterval[0]); |
| 421 | b = (time - timeInterval[0]) * linearScaling; |
| 422 | if (time < timeInterval[0]) { |
| 423 | b = 0.0; |
| 424 | } |
| 425 | |
| 426 | if (time > timeInterval[1]) { |
| 427 | b = 1.0; |
| 428 | } |
| 429 | |
| 430 | if (time < timeInterval[0]) { |
| 431 | linearScaling = 0.0; |
| 432 | } |
| 433 | |
| 434 | if (time > timeInterval[1]) { |
| 435 | linearScaling = 0.0; |
| 436 | } |
| 437 | |
| 438 | scaling[0] = b; |
| 439 | scaling[1] = linearScaling; |
| 440 | scaling[2] = 0.0; |
| 441 | } |
| 442 | |
| 443 | static void carte_quaternioncg_quaternioncg(const real_T varargin_1[9], real_T |
| 444 | *obj_a, real_T *obj_b, real_T *obj_c, real_T *obj_d) |
| 445 | { |
| 446 | real_T b[9]; |
| 447 | real_T psquared[4]; |
| 448 | real_T pd; |
| 449 | int32_T b_k; |
| 450 | int32_T b_idx; |
| 451 | int32_T subsa_idx_1; |
| 452 | real_T tmp; |
| 453 | boolean_T exitg1; |
| 454 | for (b_k = 0; b_k < 3; b_k++) { |
| 455 | subsa_idx_1 = b_k + 1; |
| 456 | b[subsa_idx_1 - 1] = varargin_1[(subsa_idx_1 - 1) * 3]; |
| 457 | subsa_idx_1 = b_k + 1; |
| 458 | b[subsa_idx_1 + 2] = varargin_1[(subsa_idx_1 - 1) * 3 + 1]; |
| 459 | subsa_idx_1 = b_k + 1; |
| 460 | b[subsa_idx_1 + 5] = varargin_1[(subsa_idx_1 - 1) * 3 + 2]; |
| 461 | } |
| 462 | |
| 463 | pd = (b[0] + b[4]) + b[8]; |
| 464 | psquared[0] = (pd * 2.0 + 1.0) - pd; |
| 465 | psquared[1] = (2.0 * b[0] + 1.0) - pd; |
| 466 | psquared[2] = (2.0 * b[4] + 1.0) - pd; |
| 467 | psquared[3] = (2.0 * b[8] + 1.0) - pd; |
| 468 | if (!rtIsNaN(psquared[0])) { |
| 469 | b_k = 1; |
| 470 | } else { |
| 471 | b_k = 0; |
| 472 | subsa_idx_1 = 2; |
| 473 | exitg1 = false; |
| 474 | while ((!exitg1) && (subsa_idx_1 < 5)) { |
| 475 | if (!rtIsNaN(psquared[subsa_idx_1 - 1])) { |
| 476 | b_k = subsa_idx_1; |
| 477 | exitg1 = true; |
| 478 | } else { |
| 479 | subsa_idx_1++; |
| 480 | } |
| 481 | } |
| 482 | } |
| 483 | |
| 484 | if (b_k == 0) { |
| 485 | pd = psquared[0]; |
| 486 | b_k = 1; |
| 487 | } else { |
| 488 | pd = psquared[b_k - 1]; |
| 489 | b_idx = b_k; |
| 490 | for (subsa_idx_1 = b_k + 1; subsa_idx_1 < 5; subsa_idx_1++) { |
| 491 | tmp = psquared[subsa_idx_1 - 1]; |
| 492 | if (pd < tmp) { |
| 493 | pd = tmp; |
| 494 | b_idx = subsa_idx_1; |
| 495 | } |
| 496 | } |
| 497 | |
| 498 | b_k = b_idx; |
| 499 | } |
| 500 | |
| 501 | switch (b_k) { |
| 502 | case 1: |
| 503 | pd = sqrt(pd); |
| 504 | *obj_a = 0.5 * pd; |
| 505 | pd = 0.5 / pd; |
| 506 | *obj_b = (b[7] - b[5]) * pd; |
| 507 | *obj_c = (b[2] - b[6]) * pd; |
| 508 | *obj_d = (b[3] - b[1]) * pd; |
| 509 | break; |
| 510 | |
| 511 | case 2: |
| 512 | pd = sqrt(pd); |
| 513 | *obj_b = 0.5 * pd; |
| 514 | pd = 0.5 / pd; |
| 515 | *obj_a = (b[7] - b[5]) * pd; |
| 516 | *obj_c = (b[3] + b[1]) * pd; |
| 517 | *obj_d = (b[2] + b[6]) * pd; |
| 518 | break; |
| 519 | |
| 520 | case 3: |
| 521 | pd = sqrt(pd); |
| 522 | *obj_c = 0.5 * pd; |
| 523 | pd = 0.5 / pd; |
| 524 | *obj_a = (b[2] - b[6]) * pd; |
| 525 | *obj_b = (b[3] + b[1]) * pd; |
| 526 | *obj_d = (b[7] + b[5]) * pd; |
| 527 | break; |
| 528 | |
| 529 | default: |
| 530 | pd = sqrt(pd); |
| 531 | *obj_d = 0.5 * pd; |
| 532 | pd = 0.5 / pd; |
| 533 | *obj_a = (b[3] - b[1]) * pd; |
| 534 | *obj_b = (b[2] + b[6]) * pd; |
| 535 | *obj_c = (b[7] + b[5]) * pd; |
| 536 | break; |
| 537 | } |
| 538 | |
| 539 | if (*obj_a < 0.0) { |
| 540 | *obj_a = -*obj_a; |
| 541 | *obj_b = -*obj_b; |
| 542 | *obj_c = -*obj_c; |
| 543 | *obj_d = -*obj_d; |
| 544 | } |
| 545 | } |
| 546 | |
| 547 | static void cartesian__quaternionBase_slerp(real_T q1_a, real_T q1_b, real_T |
| 548 | q1_c, real_T q1_d, real_T q2_a, real_T q2_b, real_T q2_c, real_T q2_d, real_T * |
| 549 | qo_a, real_T *qo_b, real_T *qo_c, real_T *qo_d) |
| 550 | { |
| 551 | real_T q1n_a; |
| 552 | real_T q1n_b; |
| 553 | real_T q1n_c; |
| 554 | real_T q1n_d; |
| 555 | real_T q2n_a; |
| 556 | real_T q2n_b; |
| 557 | real_T q2n_c; |
| 558 | real_T dp; |
| 559 | real_T theta0; |
| 560 | real_T n; |
| 561 | real_T sinv_tmp; |
| 562 | n = sqrt(((q1_a * q1_a + q1_b * q1_b) + q1_c * q1_c) + q1_d * q1_d); |
| 563 | q1n_a = q1_a / n; |
| 564 | q1n_b = q1_b / n; |
| 565 | q1n_c = q1_c / n; |
| 566 | q1n_d = q1_d / n; |
| 567 | n = sqrt(((q2_a * q2_a + q2_b * q2_b) + q2_c * q2_c) + q2_d * q2_d); |
| 568 | q2n_a = q2_a / n; |
| 569 | q2n_b = q2_b / n; |
| 570 | q2n_c = q2_c / n; |
| 571 | n = q2_d / n; |
| 572 | dp = ((q1n_a * q2n_a + q1n_b * q2n_b) + q1n_c * q2n_c) + q1n_d * n; |
| 573 | if (dp < 0.0) { |
| 574 | q2n_a = -q2n_a; |
| 575 | q2n_b = -q2n_b; |
| 576 | q2n_c = -q2n_c; |
| 577 | n = -n; |
| 578 | dp = -dp; |
| 579 | } |
| 580 | |
| 581 | if (dp > 1.0) { |
| 582 | dp = 1.0; |
| 583 | } |
| 584 | |
| 585 | theta0 = acos(dp); |
| 586 | sinv_tmp = sin(theta0); |
| 587 | dp = 1.0 / sinv_tmp; |
| 588 | theta0 = sin(0.0 * theta0); |
| 589 | *qo_a = (sinv_tmp * q1n_a + theta0 * q2n_a) * dp; |
| 590 | *qo_b = (sinv_tmp * q1n_b + theta0 * q2n_b) * dp; |
| 591 | *qo_c = (sinv_tmp * q1n_c + theta0 * q2n_c) * dp; |
| 592 | *qo_d = (sinv_tmp * q1n_d + theta0 * n) * dp; |
| 593 | if (rtIsInf(dp)) { |
| 594 | *qo_a = q1n_a; |
| 595 | *qo_b = q1n_b; |
| 596 | *qo_c = q1n_c; |
| 597 | *qo_d = q1n_d; |
| 598 | } |
| 599 | |
| 600 | n = sqrt(((*qo_a * *qo_a + *qo_b * *qo_b) + *qo_c * *qo_c) + *qo_d * *qo_d); |
| 601 | *qo_a /= n; |
| 602 | *qo_b /= n; |
| 603 | *qo_c /= n; |
| 604 | *qo_d /= n; |
| 605 | } |
| 606 | |
| 607 | static void cartesia_quaternionBase_slerp_a(real_T q1_a, real_T q1_b, real_T |
| 608 | q1_c, real_T q1_d, real_T q2_a, real_T q2_b, real_T q2_c, real_T q2_d, real_T * |
| 609 | qo_a, real_T *qo_b, real_T *qo_c, real_T *qo_d) |
| 610 | { |
| 611 | real_T q1n_a; |
| 612 | real_T q1n_b; |
| 613 | real_T q1n_c; |
| 614 | real_T q1n_d; |
| 615 | real_T q2n_a; |
| 616 | real_T q2n_b; |
| 617 | real_T q2n_c; |
| 618 | real_T dp; |
| 619 | real_T theta0; |
| 620 | real_T n; |
| 621 | real_T sinv_tmp; |
| 622 | n = sqrt(((q1_a * q1_a + q1_b * q1_b) + q1_c * q1_c) + q1_d * q1_d); |
| 623 | q1n_a = q1_a / n; |
| 624 | q1n_b = q1_b / n; |
| 625 | q1n_c = q1_c / n; |
| 626 | q1n_d = q1_d / n; |
| 627 | n = sqrt(((q2_a * q2_a + q2_b * q2_b) + q2_c * q2_c) + q2_d * q2_d); |
| 628 | q2n_a = q2_a / n; |
| 629 | q2n_b = q2_b / n; |
| 630 | q2n_c = q2_c / n; |
| 631 | n = q2_d / n; |
| 632 | dp = ((q1n_a * q2n_a + q1n_b * q2n_b) + q1n_c * q2n_c) + q1n_d * n; |
| 633 | if (dp < 0.0) { |
| 634 | q2n_a = -q2n_a; |
| 635 | q2n_b = -q2n_b; |
| 636 | q2n_c = -q2n_c; |
| 637 | n = -n; |
| 638 | dp = -dp; |
| 639 | } |
| 640 | |
| 641 | if (dp > 1.0) { |
| 642 | dp = 1.0; |
| 643 | } |
| 644 | |
| 645 | theta0 = acos(dp); |
| 646 | sinv_tmp = sin(theta0); |
| 647 | dp = 1.0 / sinv_tmp; |
| 648 | theta0 = sin(0.0 * theta0); |
| 649 | *qo_a = (theta0 * q1n_a + sinv_tmp * q2n_a) * dp; |
| 650 | *qo_b = (theta0 * q1n_b + sinv_tmp * q2n_b) * dp; |
| 651 | *qo_c = (theta0 * q1n_c + sinv_tmp * q2n_c) * dp; |
| 652 | *qo_d = (theta0 * q1n_d + sinv_tmp * n) * dp; |
| 653 | if (rtIsInf(dp)) { |
| 654 | *qo_a = q1n_a; |
| 655 | *qo_b = q1n_b; |
| 656 | *qo_c = q1n_c; |
| 657 | *qo_d = q1n_d; |
| 658 | } |
| 659 | |
| 660 | n = sqrt(((*qo_a * *qo_a + *qo_b * *qo_b) + *qo_c * *qo_c) + *qo_d * *qo_d); |
| 661 | *qo_a /= n; |
| 662 | *qo_b /= n; |
| 663 | *qo_c /= n; |
| 664 | *qo_d /= n; |
| 665 | } |
| 666 | |
| 667 | static void cartesian_quaternionBase_mtimes(real_T x_a, real_T x_b, real_T x_c, |
| 668 | real_T x_d, real_T y_a, real_T y_b, real_T y_c, real_T y_d, real_T *o_a, |
| 669 | real_T *o_b, real_T *o_c, real_T *o_d) |
| 670 | { |
| 671 | *o_a = ((x_a * y_a - x_b * y_b) - x_c * y_c) - x_d * y_d; |
| 672 | *o_b = ((x_a * y_b + x_b * y_a) + x_c * y_d) - x_d * y_c; |
| 673 | *o_c = ((x_a * y_c - x_b * y_d) + x_c * y_a) + x_d * y_b; |
| 674 | *o_d = ((x_a * y_d + x_b * y_c) - x_c * y_b) + x_d * y_a; |
| 675 | } |
| 676 | |
| 677 | static void cartesian_tr_quaternionBase_log(real_T q_a, real_T q_b, real_T q_c, |
| 678 | real_T q_d, real_T *b_q_a, real_T *b_q_b, real_T *b_q_c, real_T *b_q_d) |
| 679 | { |
| 680 | real_T vnorm; |
| 681 | real_T qnorm; |
| 682 | real_T vscale_data; |
| 683 | real_T g; |
| 684 | real_T h; |
| 685 | int32_T b_trueCount; |
| 686 | real_T b_x_data; |
| 687 | int32_T nx; |
| 688 | int32_T k; |
| 689 | vnorm = sqrt((q_b * q_b + q_c * q_c) + q_d * q_d); |
| 690 | qnorm = sqrt(q_a * q_a + vnorm * vnorm); |
| 691 | b_trueCount = 0; |
| 692 | if (vnorm != 0.0) { |
| 693 | for (nx = 0; nx < 1; nx++) { |
| 694 | b_trueCount++; |
| 695 | } |
| 696 | } |
| 697 | |
| 698 | nx = b_trueCount - 1; |
| 699 | for (k = 0; k <= nx; k++) { |
| 700 | vscale_data = q_a / qnorm; |
| 701 | } |
| 702 | |
| 703 | nx = b_trueCount - 1; |
| 704 | if (0 <= nx) { |
| 705 | memcpy(&b_x_data, &vscale_data, (nx + 1) * sizeof(real_T)); |
| 706 | } |
| 707 | |
| 708 | nx = b_trueCount - 1; |
| 709 | for (k = 0; k <= nx; k++) { |
| 710 | b_x_data = acos(b_x_data); |
| 711 | } |
| 712 | |
| 713 | nx = b_trueCount - 1; |
| 714 | for (k = 0; k <= nx; k++) { |
| 715 | vscale_data = b_x_data / vnorm; |
| 716 | } |
| 717 | |
| 718 | nx = b_trueCount - 1; |
| 719 | for (k = 0; k <= nx; k++) { |
| 720 | b_x_data = q_b * vscale_data; |
| 721 | } |
| 722 | |
| 723 | g = q_b; |
| 724 | if (vnorm != 0.0) { |
| 725 | for (k = 0; k < 1; k++) { |
| 726 | g = b_x_data; |
| 727 | } |
| 728 | } |
| 729 | |
| 730 | h = g; |
| 731 | if (!(vnorm != 0.0)) { |
| 732 | h = 0.0; |
| 733 | } |
| 734 | |
| 735 | nx = b_trueCount - 1; |
| 736 | for (k = 0; k <= nx; k++) { |
| 737 | b_x_data = q_c * vscale_data; |
| 738 | } |
| 739 | |
| 740 | g = q_c; |
| 741 | if (vnorm != 0.0) { |
| 742 | for (k = 0; k < 1; k++) { |
| 743 | g = b_x_data; |
| 744 | } |
| 745 | } |
| 746 | |
| 747 | if (!(vnorm != 0.0)) { |
| 748 | g = 0.0; |
| 749 | } |
| 750 | |
| 751 | nx = b_trueCount - 1; |
| 752 | for (k = 0; k <= nx; k++) { |
| 753 | b_x_data = q_d * vscale_data; |
| 754 | } |
| 755 | |
| 756 | vscale_data = q_d; |
| 757 | if (vnorm != 0.0) { |
| 758 | for (nx = 0; nx < 1; nx++) { |
| 759 | vscale_data = b_x_data; |
| 760 | } |
| 761 | } |
| 762 | |
| 763 | if (!(vnorm != 0.0)) { |
| 764 | vscale_data = 0.0; |
| 765 | } |
| 766 | |
| 767 | *b_q_a = log(qnorm); |
| 768 | *b_q_b = h; |
| 769 | *b_q_c = g; |
| 770 | *b_q_d = vscale_data; |
| 771 | } |
| 772 | |
| 773 | static void cartesian_trajectory_pl_rottraj(const real_T R0[9], const real_T RF |
| 774 | [9], const real_T varargin_2[3], real_T R[9], real_T omega[3], real_T alpha[3]) |
| 775 | { |
| 776 | real_T pn_a; |
| 777 | real_T pn_b; |
| 778 | real_T pn_c; |
| 779 | real_T pn_d; |
| 780 | real_T qn_c; |
| 781 | real_T qn_d; |
| 782 | real_T pnCorrected_a; |
| 783 | real_T pnCorrected_b; |
| 784 | real_T pnCorrected_c; |
| 785 | real_T n; |
| 786 | real_T ab2; |
| 787 | real_T ac2; |
| 788 | real_T ad2; |
| 789 | real_T bc2; |
| 790 | real_T bd2; |
| 791 | real_T cd2; |
| 792 | real_T aasq; |
| 793 | real_T rmat[9]; |
| 794 | real_T theta0; |
| 795 | real_T b_x; |
| 796 | real_T assign_temp_d; |
| 797 | real_T assign_temp_a; |
| 798 | real_T assign_temp_b; |
| 799 | real_T assign_temp_c; |
| 800 | real_T assign_temp_d_0; |
| 801 | real_T q_a[4]; |
| 802 | int32_T b_k; |
| 803 | int32_T subsa_idx_1; |
| 804 | carte_quaternioncg_quaternioncg(R0, &pn_a, &pn_b, &pn_c, &pn_d); |
| 805 | n = sqrt(((pn_a * pn_a + pn_b * pn_b) + pn_c * pn_c) + pn_d * pn_d); |
| 806 | pn_a /= n; |
| 807 | pn_b /= n; |
| 808 | pn_c /= n; |
| 809 | pn_d /= n; |
| 810 | carte_quaternioncg_quaternioncg(RF, &cd2, &aasq, &qn_c, &qn_d); |
| 811 | n = sqrt(((cd2 * cd2 + aasq * aasq) + qn_c * qn_c) + qn_d * qn_d); |
| 812 | cd2 /= n; |
| 813 | aasq /= n; |
| 814 | qn_c /= n; |
| 815 | qn_d /= n; |
| 816 | cartesian__quaternionBase_slerp(pn_a, pn_b, pn_c, pn_d, cd2, aasq, qn_c, qn_d, |
| 817 | &pnCorrected_a, &pnCorrected_b, &pnCorrected_c, &ab2); |
| 818 | cartesia_quaternionBase_slerp_a(pn_a, pn_b, pn_c, pn_d, cd2, aasq, qn_c, qn_d, |
| 819 | &ac2, &ad2, &bc2, &bd2); |
| 820 | n = sqrt(((pn_a * pn_a + pn_b * pn_b) + pn_c * pn_c) + pn_d * pn_d); |
| 821 | pn_a /= n; |
| 822 | pn_b /= n; |
| 823 | pn_c /= n; |
| 824 | pn_d /= n; |
| 825 | n = sqrt(((cd2 * cd2 + aasq * aasq) + qn_c * qn_c) + qn_d * qn_d); |
| 826 | cd2 /= n; |
| 827 | aasq /= n; |
| 828 | qn_c /= n; |
| 829 | qn_d /= n; |
| 830 | n = ((pn_a * cd2 + pn_b * aasq) + pn_c * qn_c) + pn_d * qn_d; |
| 831 | if (n < 0.0) { |
| 832 | cd2 = -cd2; |
| 833 | aasq = -aasq; |
| 834 | qn_c = -qn_c; |
| 835 | qn_d = -qn_d; |
| 836 | n = -n; |
| 837 | } |
| 838 | |
| 839 | if (n > 1.0) { |
| 840 | n = 1.0; |
| 841 | } |
| 842 | |
| 843 | theta0 = acos(n); |
| 844 | n = 1.0 / sin(theta0); |
| 845 | b_x = sin((1.0 - varargin_2[0]) * theta0); |
| 846 | theta0 = sin(varargin_2[0] * theta0); |
| 847 | cd2 = (b_x * pn_a + theta0 * cd2) * n; |
| 848 | aasq = (b_x * pn_b + theta0 * aasq) * n; |
| 849 | qn_c = (b_x * pn_c + theta0 * qn_c) * n; |
| 850 | qn_d = (b_x * pn_d + theta0 * qn_d) * n; |
| 851 | if (rtIsInf(n)) { |
| 852 | cd2 = pn_a; |
| 853 | aasq = pn_b; |
| 854 | qn_c = pn_c; |
| 855 | qn_d = pn_d; |
| 856 | } |
| 857 | |
| 858 | n = sqrt(((cd2 * cd2 + aasq * aasq) + qn_c * qn_c) + qn_d * qn_d); |
| 859 | cd2 /= n; |
| 860 | aasq /= n; |
| 861 | qn_c /= n; |
| 862 | qn_d /= n; |
| 863 | cartesian_quaternionBase_mtimes(pnCorrected_a, -pnCorrected_b, -pnCorrected_c, |
| 864 | -ab2, ac2, ad2, bc2, bd2, &pn_d, &b_x, &theta0, &assign_temp_d); |
| 865 | cartesian_tr_quaternionBase_log(pn_d, b_x, theta0, assign_temp_d, |
| 866 | &assign_temp_a, &assign_temp_b, &assign_temp_c, &assign_temp_d_0); |
| 867 | cartesian_quaternionBase_mtimes(cd2, aasq, qn_c, qn_d, assign_temp_a, |
| 868 | assign_temp_b, assign_temp_c, assign_temp_d_0, &pn_a, &pn_b, &n, &pn_c); |
| 869 | cartesian_quaternionBase_mtimes(2.0 * (varargin_2[1] * pn_a), 2.0 * |
| 870 | (varargin_2[1] * pn_b), 2.0 * (varargin_2[1] * n), 2.0 * (varargin_2[1] * |
| 871 | pn_c), cd2, -aasq, -qn_c, -qn_d, &pn_d, &omega[0], &omega[1], &omega[2]); |
| 872 | cartesian_quaternionBase_mtimes(pnCorrected_a, -pnCorrected_b, -pnCorrected_c, |
| 873 | -ab2, ac2, ad2, bc2, bd2, &pn_d, &b_x, &theta0, &assign_temp_d); |
| 874 | cartesian_tr_quaternionBase_log(pn_d, b_x, theta0, assign_temp_d, |
| 875 | &assign_temp_a, &assign_temp_b, &assign_temp_c, &assign_temp_d_0); |
| 876 | cartesian_quaternionBase_mtimes(cd2, aasq, qn_c, qn_d, assign_temp_a, |
| 877 | assign_temp_b, assign_temp_c, assign_temp_d_0, &pn_d, &b_x, &theta0, |
| 878 | &assign_temp_d); |
| 879 | cartesian_quaternionBase_mtimes(pnCorrected_a, -pnCorrected_b, -pnCorrected_c, |
| 880 | -ab2, ac2, ad2, bc2, bd2, &assign_temp_a, &assign_temp_b, &assign_temp_c, |
| 881 | &assign_temp_d_0); |
| 882 | cartesian_tr_quaternionBase_log(assign_temp_a, assign_temp_b, assign_temp_c, |
| 883 | assign_temp_d_0, &pnCorrected_a, &pnCorrected_b, &pnCorrected_c, &ab2); |
| 884 | cartesian_quaternionBase_mtimes(pn_d, b_x, theta0, assign_temp_d, |
| 885 | pnCorrected_a, pnCorrected_b, pnCorrected_c, ab2, &pn_a, &pn_b, &n, &pn_c); |
| 886 | cartesian_quaternionBase_mtimes(2.0 * (varargin_2[2] * pn_a), 2.0 * |
| 887 | (varargin_2[2] * pn_b), 2.0 * (varargin_2[2] * n), 2.0 * (varargin_2[2] * |
| 888 | pn_c), cd2, -aasq, -qn_c, -qn_d, &q_a[0], &q_a[1], &q_a[2], &q_a[3]); |
| 889 | n = sqrt(((cd2 * cd2 + aasq * aasq) + qn_c * qn_c) + qn_d * qn_d); |
| 890 | pn_d = cd2 / n; |
| 891 | pnCorrected_a = aasq / n; |
| 892 | pnCorrected_b = qn_c / n; |
| 893 | pnCorrected_c = qn_d / n; |
| 894 | ab2 = pn_d * pnCorrected_a * 2.0; |
| 895 | ac2 = pn_d * pnCorrected_b * 2.0; |
| 896 | ad2 = pn_d * pnCorrected_c * 2.0; |
| 897 | bc2 = pnCorrected_a * pnCorrected_b * 2.0; |
| 898 | bd2 = pnCorrected_a * pnCorrected_c * 2.0; |
| 899 | cd2 = pnCorrected_b * pnCorrected_c * 2.0; |
| 900 | aasq = pn_d * pn_d * 2.0 - 1.0; |
| 901 | rmat[0] = pnCorrected_a * pnCorrected_a * 2.0 + aasq; |
| 902 | rmat[3] = bc2 + ad2; |
| 903 | rmat[6] = bd2 - ac2; |
| 904 | rmat[1] = bc2 - ad2; |
| 905 | rmat[4] = pnCorrected_b * pnCorrected_b * 2.0 + aasq; |
| 906 | rmat[7] = cd2 + ab2; |
| 907 | rmat[2] = bd2 + ac2; |
| 908 | rmat[5] = cd2 - ab2; |
| 909 | rmat[8] = pnCorrected_c * pnCorrected_c * 2.0 + aasq; |
| 910 | for (b_k = 0; b_k < 3; b_k++) { |
| 911 | alpha[b_k] = q_a[(b_k + 2) - 1]; |
| 912 | subsa_idx_1 = b_k + 1; |
| 913 | R[subsa_idx_1 - 1] = rmat[(subsa_idx_1 - 1) * 3]; |
| 914 | subsa_idx_1 = b_k + 1; |
| 915 | R[subsa_idx_1 + 2] = rmat[(subsa_idx_1 - 1) * 3 + 1]; |
| 916 | subsa_idx_1 = b_k + 1; |
| 917 | R[subsa_idx_1 + 5] = rmat[(subsa_idx_1 - 1) * 3 + 2]; |
| 918 | } |
| 919 | } |
| 920 | |
| 921 | static void cartesian_trajec_emxInit_real_T(emxArray_real_T_cartesian_tra_T |
| 922 | **pEmxArray, int32_T numDimensions) |
| 923 | { |
| 924 | emxArray_real_T_cartesian_tra_T *emxArray; |
| 925 | *pEmxArray = (emxArray_real_T_cartesian_tra_T *)malloc(sizeof |
| 926 | (emxArray_real_T_cartesian_tra_T)); |
| 927 | emxArray = *pEmxArray; |
| 928 | emxArray->data = (real_T *)NULL; |
| 929 | emxArray->numDimensions = numDimensions; |
| 930 | emxArray->size = (int32_T *)malloc(sizeof(int32_T) * numDimensions); |
| 931 | emxArray->allocatedSize = 0; |
| 932 | emxArray->canFreeData = true; |
| 933 | for (cartesian_trajectory_planner_B.i_j = 0; |
| 934 | cartesian_trajectory_planner_B.i_j < numDimensions; |
| 935 | cartesian_trajectory_planner_B.i_j++) { |
| 936 | emxArray->size[cartesian_trajectory_planner_B.i_j] = 0; |
| 937 | } |
| 938 | } |
| 939 | |
| 940 | static void cartes_emxEnsureCapacity_real_T(emxArray_real_T_cartesian_tra_T |
| 941 | *emxArray, int32_T oldNumel) |
| 942 | { |
| 943 | void *newData; |
| 944 | if (oldNumel < 0) { |
| 945 | oldNumel = 0; |
| 946 | } |
| 947 | |
| 948 | cartesian_trajectory_planner_B.newNumel_j = 1; |
| 949 | for (cartesian_trajectory_planner_B.i_ee = 0; |
| 950 | cartesian_trajectory_planner_B.i_ee < emxArray->numDimensions; |
| 951 | cartesian_trajectory_planner_B.i_ee++) { |
| 952 | cartesian_trajectory_planner_B.newNumel_j *= emxArray-> |
| 953 | size[cartesian_trajectory_planner_B.i_ee]; |
| 954 | } |
| 955 | |
| 956 | if (cartesian_trajectory_planner_B.newNumel_j > emxArray->allocatedSize) { |
| 957 | cartesian_trajectory_planner_B.i_ee = emxArray->allocatedSize; |
| 958 | if (cartesian_trajectory_planner_B.i_ee < 16) { |
| 959 | cartesian_trajectory_planner_B.i_ee = 16; |
| 960 | } |
| 961 | |
| 962 | while (cartesian_trajectory_planner_B.i_ee < |
| 963 | cartesian_trajectory_planner_B.newNumel_j) { |
| 964 | if (cartesian_trajectory_planner_B.i_ee > 1073741823) { |
| 965 | cartesian_trajectory_planner_B.i_ee = MAX_int32_T; |
| 966 | } else { |
| 967 | cartesian_trajectory_planner_B.i_ee <<= 1; |
| 968 | } |
| 969 | } |
| 970 | |
| 971 | newData = calloc(static_cast<uint32_T>(cartesian_trajectory_planner_B.i_ee), |
| 972 | sizeof(real_T)); |
| 973 | if (emxArray->data != NULL) { |
| 974 | memcpy(newData, emxArray->data, sizeof(real_T) * oldNumel); |
| 975 | if (emxArray->canFreeData) { |
| 976 | free(emxArray->data); |
| 977 | } |
| 978 | } |
| 979 | |
| 980 | emxArray->data = (real_T *)newData; |
| 981 | emxArray->allocatedSize = cartesian_trajectory_planner_B.i_ee; |
| 982 | emxArray->canFreeData = true; |
| 983 | } |
| 984 | } |
| 985 | |
| 986 | static void cartesian_trajec_emxInit_char_T(emxArray_char_T_cartesian_tra_T |
| 987 | **pEmxArray, int32_T numDimensions) |
| 988 | { |
| 989 | emxArray_char_T_cartesian_tra_T *emxArray; |
| 990 | *pEmxArray = (emxArray_char_T_cartesian_tra_T *)malloc(sizeof |
| 991 | (emxArray_char_T_cartesian_tra_T)); |
| 992 | emxArray = *pEmxArray; |
| 993 | emxArray->data = (char_T *)NULL; |
| 994 | emxArray->numDimensions = numDimensions; |
| 995 | emxArray->size = (int32_T *)malloc(sizeof(int32_T) * numDimensions); |
| 996 | emxArray->allocatedSize = 0; |
| 997 | emxArray->canFreeData = true; |
| 998 | for (cartesian_trajectory_planner_B.i_d = 0; |
| 999 | cartesian_trajectory_planner_B.i_d < numDimensions; |
| 1000 | cartesian_trajectory_planner_B.i_d++) { |
| 1001 | emxArray->size[cartesian_trajectory_planner_B.i_d] = 0; |
| 1002 | } |
| 1003 | } |
| 1004 | |
| 1005 | static void cartes_emxEnsureCapacity_char_T(emxArray_char_T_cartesian_tra_T |
| 1006 | *emxArray, int32_T oldNumel) |
| 1007 | { |
| 1008 | void *newData; |
| 1009 | if (oldNumel < 0) { |
| 1010 | oldNumel = 0; |
| 1011 | } |
| 1012 | |
| 1013 | cartesian_trajectory_planner_B.newNumel = 1; |
| 1014 | for (cartesian_trajectory_planner_B.i_o = 0; |
| 1015 | cartesian_trajectory_planner_B.i_o < emxArray->numDimensions; |
| 1016 | cartesian_trajectory_planner_B.i_o++) { |
| 1017 | cartesian_trajectory_planner_B.newNumel *= emxArray-> |
| 1018 | size[cartesian_trajectory_planner_B.i_o]; |
| 1019 | } |
| 1020 | |
| 1021 | if (cartesian_trajectory_planner_B.newNumel > emxArray->allocatedSize) { |
| 1022 | cartesian_trajectory_planner_B.i_o = emxArray->allocatedSize; |
| 1023 | if (cartesian_trajectory_planner_B.i_o < 16) { |
| 1024 | cartesian_trajectory_planner_B.i_o = 16; |
| 1025 | } |
| 1026 | |
| 1027 | while (cartesian_trajectory_planner_B.i_o < |
| 1028 | cartesian_trajectory_planner_B.newNumel) { |
| 1029 | if (cartesian_trajectory_planner_B.i_o > 1073741823) { |
| 1030 | cartesian_trajectory_planner_B.i_o = MAX_int32_T; |
| 1031 | } else { |
| 1032 | cartesian_trajectory_planner_B.i_o <<= 1; |
| 1033 | } |
| 1034 | } |
| 1035 | |
| 1036 | newData = calloc(static_cast<uint32_T>(cartesian_trajectory_planner_B.i_o), |
| 1037 | sizeof(char_T)); |
| 1038 | if (emxArray->data != NULL) { |
| 1039 | memcpy(newData, emxArray->data, sizeof(char_T) * oldNumel); |
| 1040 | if (emxArray->canFreeData) { |
| 1041 | free(emxArray->data); |
| 1042 | } |
| 1043 | } |
| 1044 | |
| 1045 | emxArray->data = (char_T *)newData; |
| 1046 | emxArray->allocatedSize = cartesian_trajectory_planner_B.i_o; |
| 1047 | emxArray->canFreeData = true; |
| 1048 | } |
| 1049 | } |
| 1050 | |
| 1051 | static void cartesian_trajec_emxFree_real_T(emxArray_real_T_cartesian_tra_T |
| 1052 | **pEmxArray) |
| 1053 | { |
| 1054 | if (*pEmxArray != (emxArray_real_T_cartesian_tra_T *)NULL) { |
| 1055 | if (((*pEmxArray)->data != (real_T *)NULL) && (*pEmxArray)->canFreeData) { |
| 1056 | free((*pEmxArray)->data); |
| 1057 | } |
| 1058 | |
| 1059 | free((*pEmxArray)->size); |
| 1060 | free(*pEmxArray); |
| 1061 | *pEmxArray = (emxArray_real_T_cartesian_tra_T *)NULL; |
| 1062 | } |
| 1063 | } |
| 1064 | |
| 1065 | static void cartesian_trajec_emxFree_char_T(emxArray_char_T_cartesian_tra_T |
| 1066 | **pEmxArray) |
| 1067 | { |
| 1068 | if (*pEmxArray != (emxArray_char_T_cartesian_tra_T *)NULL) { |
| 1069 | if (((*pEmxArray)->data != (char_T *)NULL) && (*pEmxArray)->canFreeData) { |
| 1070 | free((*pEmxArray)->data); |
| 1071 | } |
| 1072 | |
| 1073 | free((*pEmxArray)->size); |
| 1074 | free(*pEmxArray); |
| 1075 | *pEmxArray = (emxArray_char_T_cartesian_tra_T *)NULL; |
| 1076 | } |
| 1077 | } |
| 1078 | |
| 1079 | static void car_inverseKinematics_setupImpl(b_inverseKinematics_cartesian_T *obj, |
| 1080 | f_robotics_manip_internal_IKE_T *iobj_0) |
| 1081 | { |
| 1082 | real_T n; |
| 1083 | emxArray_real_T_cartesian_tra_T *A; |
| 1084 | emxArray_real_T_cartesian_tra_T *b; |
| 1085 | real_T m; |
| 1086 | c_rigidBodyJoint_cartesian__a_T *joint; |
| 1087 | real_T pnum; |
| 1088 | int32_T d; |
| 1089 | int32_T b_i; |
| 1090 | emxArray_real_T_cartesian_tra_T *e; |
| 1091 | int32_T j; |
| 1092 | int32_T p; |
| 1093 | emxArray_real_T_cartesian_tra_T *s; |
| 1094 | x_robotics_manip_internal_Rig_T *obj_0; |
| 1095 | w_robotics_manip_internal_Rig_T *body; |
| 1096 | int32_T c; |
| 1097 | boolean_T b_bool; |
| 1098 | emxArray_char_T_cartesian_tra_T *a; |
| 1099 | int8_T b_I[16]; |
| 1100 | int32_T m_0; |
| 1101 | real_T t; |
| 1102 | int32_T b_kstr; |
| 1103 | char_T b_0[5]; |
| 1104 | real_T pnum_0; |
| 1105 | int32_T loop_ub; |
| 1106 | real_T tmp; |
| 1107 | real_T w; |
| 1108 | static const char_T tmp_0[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 1109 | |
| 1110 | int32_T exitg1; |
| 1111 | cartesian_trajec_emxInit_real_T(&A, 2); |
| 1112 | n = obj->RigidBodyTreeInternal->PositionNumber; |
| 1113 | b_kstr = A->size[0] * A->size[1]; |
| 1114 | c = static_cast<int32_T>(n); |
| 1115 | A->size[0] = c; |
| 1116 | loop_ub = static_cast<int32_T>(2.0 * n); |
| 1117 | A->size[1] = loop_ub; |
| 1118 | cartes_emxEnsureCapacity_real_T(A, b_kstr); |
| 1119 | m_0 = loop_ub * c - 1; |
| 1120 | for (b_kstr = 0; b_kstr <= m_0; b_kstr++) { |
| 1121 | A->data[b_kstr] = 0.0; |
| 1122 | } |
| 1123 | |
| 1124 | cartesian_trajec_emxInit_real_T(&b, 1); |
| 1125 | b_kstr = b->size[0]; |
| 1126 | b->size[0] = loop_ub; |
| 1127 | cartes_emxEnsureCapacity_real_T(b, b_kstr); |
| 1128 | for (b_kstr = 0; b_kstr < loop_ub; b_kstr++) { |
| 1129 | b->data[b_kstr] = 0.0; |
| 1130 | } |
| 1131 | |
| 1132 | n = 1.0; |
| 1133 | m = 1.0; |
| 1134 | pnum = obj->RigidBodyTreeInternal->NumBodies; |
| 1135 | d = static_cast<int32_T>(pnum) - 1; |
| 1136 | cartesian_trajec_emxInit_real_T(&e, 2); |
| 1137 | cartesian_trajec_emxInit_real_T(&s, 2); |
| 1138 | cartesian_trajec_emxInit_char_T(&a, 2); |
| 1139 | if (0 <= d) { |
| 1140 | for (b_kstr = 0; b_kstr < 5; b_kstr++) { |
| 1141 | b_0[b_kstr] = tmp_0[b_kstr]; |
| 1142 | } |
| 1143 | } |
| 1144 | |
| 1145 | for (b_i = 0; b_i <= d; b_i++) { |
| 1146 | body = obj->RigidBodyTreeInternal->Bodies[b_i]; |
| 1147 | joint = body->JointInternal; |
| 1148 | pnum = joint->PositionNumber; |
| 1149 | b_kstr = a->size[0] * a->size[1]; |
| 1150 | a->size[0] = 1; |
| 1151 | a->size[1] = joint->Type->size[1]; |
| 1152 | cartes_emxEnsureCapacity_char_T(a, b_kstr); |
| 1153 | loop_ub = joint->Type->size[0] * joint->Type->size[1] - 1; |
| 1154 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 1155 | a->data[b_kstr] = joint->Type->data[b_kstr]; |
| 1156 | } |
| 1157 | |
| 1158 | b_bool = false; |
| 1159 | if (a->size[1] == 5) { |
| 1160 | b_kstr = 1; |
| 1161 | do { |
| 1162 | exitg1 = 0; |
| 1163 | if (b_kstr - 1 < 5) { |
| 1164 | loop_ub = b_kstr - 1; |
| 1165 | if (a->data[loop_ub] != b_0[loop_ub]) { |
| 1166 | exitg1 = 1; |
| 1167 | } else { |
| 1168 | b_kstr++; |
| 1169 | } |
| 1170 | } else { |
| 1171 | b_bool = true; |
| 1172 | exitg1 = 1; |
| 1173 | } |
| 1174 | } while (exitg1 == 0); |
| 1175 | } |
| 1176 | |
| 1177 | if (!b_bool) { |
| 1178 | tmp = (n + pnum) - 1.0; |
| 1179 | if (n > tmp) { |
| 1180 | j = 0; |
| 1181 | } else { |
| 1182 | j = static_cast<int32_T>(n) - 1; |
| 1183 | } |
| 1184 | |
| 1185 | w = m + pnum; |
| 1186 | if (m > w - 1.0) { |
| 1187 | p = 0; |
| 1188 | } else { |
| 1189 | p = static_cast<int32_T>(m) - 1; |
| 1190 | } |
| 1191 | |
| 1192 | if (pnum < 0.0) { |
| 1193 | t = 0.0; |
| 1194 | pnum_0 = 0.0; |
| 1195 | } else { |
| 1196 | t = pnum; |
| 1197 | pnum_0 = pnum; |
| 1198 | } |
| 1199 | |
| 1200 | m_0 = static_cast<int32_T>(pnum_0) - 1; |
| 1201 | b_kstr = s->size[0] * s->size[1]; |
| 1202 | c = static_cast<int32_T>(t); |
| 1203 | s->size[0] = c; |
| 1204 | s->size[1] = c; |
| 1205 | cartes_emxEnsureCapacity_real_T(s, b_kstr); |
| 1206 | loop_ub = c * c - 1; |
| 1207 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 1208 | s->data[b_kstr] = 0.0; |
| 1209 | } |
| 1210 | |
| 1211 | if (c > 0) { |
| 1212 | for (b_kstr = 0; b_kstr <= m_0; b_kstr++) { |
| 1213 | s->data[b_kstr + s->size[0] * b_kstr] = 1.0; |
| 1214 | } |
| 1215 | } |
| 1216 | |
| 1217 | loop_ub = s->size[1]; |
| 1218 | for (b_kstr = 0; b_kstr < loop_ub; b_kstr++) { |
| 1219 | m_0 = s->size[0]; |
| 1220 | for (c = 0; c < m_0; c++) { |
| 1221 | A->data[(j + c) + A->size[0] * (p + b_kstr)] = s->data[s->size[0] * |
| 1222 | b_kstr + c]; |
| 1223 | } |
| 1224 | } |
| 1225 | |
| 1226 | if (n > tmp) { |
| 1227 | j = 0; |
| 1228 | } else { |
| 1229 | j = static_cast<int32_T>(n) - 1; |
| 1230 | } |
| 1231 | |
| 1232 | tmp = 2.0 * pnum + m; |
| 1233 | if (w > tmp - 1.0) { |
| 1234 | p = 0; |
| 1235 | } else { |
| 1236 | p = static_cast<int32_T>(w) - 1; |
| 1237 | } |
| 1238 | |
| 1239 | if (pnum < 0.0) { |
| 1240 | t = 0.0; |
| 1241 | pnum_0 = 0.0; |
| 1242 | } else { |
| 1243 | t = pnum; |
| 1244 | pnum_0 = pnum; |
| 1245 | } |
| 1246 | |
| 1247 | m_0 = static_cast<int32_T>(pnum_0) - 1; |
| 1248 | b_kstr = s->size[0] * s->size[1]; |
| 1249 | c = static_cast<int32_T>(t); |
| 1250 | s->size[0] = c; |
| 1251 | s->size[1] = c; |
| 1252 | cartes_emxEnsureCapacity_real_T(s, b_kstr); |
| 1253 | loop_ub = c * c - 1; |
| 1254 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 1255 | s->data[b_kstr] = 0.0; |
| 1256 | } |
| 1257 | |
| 1258 | if (c > 0) { |
| 1259 | for (b_kstr = 0; b_kstr <= m_0; b_kstr++) { |
| 1260 | s->data[b_kstr + s->size[0] * b_kstr] = 1.0; |
| 1261 | } |
| 1262 | } |
| 1263 | |
| 1264 | loop_ub = s->size[1]; |
| 1265 | for (b_kstr = 0; b_kstr < loop_ub; b_kstr++) { |
| 1266 | m_0 = s->size[0]; |
| 1267 | for (c = 0; c < m_0; c++) { |
| 1268 | A->data[(j + c) + A->size[0] * (p + b_kstr)] = -s->data[s->size[0] * |
| 1269 | b_kstr + c]; |
| 1270 | } |
| 1271 | } |
| 1272 | |
| 1273 | b_kstr = e->size[0] * e->size[1]; |
| 1274 | e->size[0] = joint->PositionLimitsInternal->size[0]; |
| 1275 | e->size[1] = 2; |
| 1276 | cartes_emxEnsureCapacity_real_T(e, b_kstr); |
| 1277 | loop_ub = joint->PositionLimitsInternal->size[0] * |
| 1278 | joint->PositionLimitsInternal->size[1] - 1; |
| 1279 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 1280 | e->data[b_kstr] = joint->PositionLimitsInternal->data[b_kstr]; |
| 1281 | } |
| 1282 | |
| 1283 | b->data[static_cast<int32_T>(m) - 1] = e->data[1]; |
| 1284 | b_kstr = e->size[0] * e->size[1]; |
| 1285 | e->size[0] = joint->PositionLimitsInternal->size[0]; |
| 1286 | e->size[1] = 2; |
| 1287 | cartes_emxEnsureCapacity_real_T(e, b_kstr); |
| 1288 | loop_ub = joint->PositionLimitsInternal->size[0] * |
| 1289 | joint->PositionLimitsInternal->size[1] - 1; |
| 1290 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 1291 | e->data[b_kstr] = joint->PositionLimitsInternal->data[b_kstr]; |
| 1292 | } |
| 1293 | |
| 1294 | b->data[static_cast<int32_T>(m + 1.0) - 1] = -e->data[0]; |
| 1295 | m = tmp; |
| 1296 | } |
| 1297 | |
| 1298 | n += pnum; |
| 1299 | } |
| 1300 | |
| 1301 | cartesian_trajec_emxFree_real_T(&s); |
| 1302 | b_kstr = A->size[0] * A->size[1]; |
| 1303 | c = obj->Solver->ConstraintMatrix->size[0] * obj->Solver-> |
| 1304 | ConstraintMatrix->size[1]; |
| 1305 | obj->Solver->ConstraintMatrix->size[0] = A->size[0]; |
| 1306 | obj->Solver->ConstraintMatrix->size[1] = A->size[1]; |
| 1307 | cartes_emxEnsureCapacity_real_T(obj->Solver->ConstraintMatrix, c); |
| 1308 | loop_ub = b_kstr - 1; |
| 1309 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 1310 | obj->Solver->ConstraintMatrix->data[b_kstr] = A->data[b_kstr]; |
| 1311 | } |
| 1312 | |
| 1313 | cartesian_trajec_emxFree_real_T(&A); |
| 1314 | b_kstr = obj->Solver->ConstraintBound->size[0]; |
| 1315 | obj->Solver->ConstraintBound->size[0] = b->size[0]; |
| 1316 | cartes_emxEnsureCapacity_real_T(obj->Solver->ConstraintBound, b_kstr); |
| 1317 | loop_ub = b->size[0]; |
| 1318 | for (b_kstr = 0; b_kstr < loop_ub; b_kstr++) { |
| 1319 | obj->Solver->ConstraintBound->data[b_kstr] = b->data[b_kstr]; |
| 1320 | } |
| 1321 | |
| 1322 | obj_0 = obj->RigidBodyTreeInternal; |
| 1323 | b_kstr = e->size[0] * e->size[1]; |
| 1324 | e->size[0] = static_cast<int32_T>(obj_0->PositionNumber); |
| 1325 | e->size[1] = 2; |
| 1326 | cartes_emxEnsureCapacity_real_T(e, b_kstr); |
| 1327 | loop_ub = (static_cast<int32_T>(obj_0->PositionNumber) << 1) - 1; |
| 1328 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 1329 | e->data[b_kstr] = 0.0; |
| 1330 | } |
| 1331 | |
| 1332 | n = 1.0; |
| 1333 | m = obj_0->NumBodies; |
| 1334 | c = static_cast<int32_T>(m) - 1; |
| 1335 | if (0 <= c) { |
| 1336 | for (b_kstr = 0; b_kstr < 5; b_kstr++) { |
| 1337 | b_0[b_kstr] = tmp_0[b_kstr]; |
| 1338 | } |
| 1339 | } |
| 1340 | |
| 1341 | for (b_i = 0; b_i <= c; b_i++) { |
| 1342 | body = obj_0->Bodies[b_i]; |
| 1343 | b_kstr = a->size[0] * a->size[1]; |
| 1344 | a->size[0] = 1; |
| 1345 | a->size[1] = body->JointInternal->Type->size[1]; |
| 1346 | cartes_emxEnsureCapacity_char_T(a, b_kstr); |
| 1347 | loop_ub = body->JointInternal->Type->size[0] * body->JointInternal-> |
| 1348 | Type->size[1] - 1; |
| 1349 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 1350 | a->data[b_kstr] = body->JointInternal->Type->data[b_kstr]; |
| 1351 | } |
| 1352 | |
| 1353 | b_bool = false; |
| 1354 | if (a->size[1] == 5) { |
| 1355 | b_kstr = 1; |
| 1356 | do { |
| 1357 | exitg1 = 0; |
| 1358 | if (b_kstr - 1 < 5) { |
| 1359 | loop_ub = b_kstr - 1; |
| 1360 | if (a->data[loop_ub] != b_0[loop_ub]) { |
| 1361 | exitg1 = 1; |
| 1362 | } else { |
| 1363 | b_kstr++; |
| 1364 | } |
| 1365 | } else { |
| 1366 | b_bool = true; |
| 1367 | exitg1 = 1; |
| 1368 | } |
| 1369 | } while (exitg1 == 0); |
| 1370 | } |
| 1371 | |
| 1372 | if (!b_bool) { |
| 1373 | pnum = body->JointInternal->PositionNumber; |
| 1374 | tmp = n + pnum; |
| 1375 | if (n > tmp - 1.0) { |
| 1376 | d = 0; |
| 1377 | } else { |
| 1378 | d = static_cast<int32_T>(n) - 1; |
| 1379 | } |
| 1380 | |
| 1381 | joint = body->JointInternal; |
| 1382 | loop_ub = joint->PositionLimitsInternal->size[0]; |
| 1383 | for (b_kstr = 0; b_kstr < loop_ub; b_kstr++) { |
| 1384 | e->data[d + b_kstr] = joint->PositionLimitsInternal->data[b_kstr]; |
| 1385 | } |
| 1386 | |
| 1387 | loop_ub = joint->PositionLimitsInternal->size[0]; |
| 1388 | for (b_kstr = 0; b_kstr < loop_ub; b_kstr++) { |
| 1389 | e->data[(d + b_kstr) + e->size[0]] = joint->PositionLimitsInternal-> |
| 1390 | data[b_kstr + joint->PositionLimitsInternal->size[0]]; |
| 1391 | } |
| 1392 | |
| 1393 | n = tmp; |
| 1394 | } |
| 1395 | } |
| 1396 | |
| 1397 | cartesian_trajec_emxFree_char_T(&a); |
| 1398 | b_kstr = obj->Limits->size[0] * obj->Limits->size[1]; |
| 1399 | obj->Limits->size[0] = e->size[0]; |
| 1400 | obj->Limits->size[1] = 2; |
| 1401 | cartes_emxEnsureCapacity_real_T(obj->Limits, b_kstr); |
| 1402 | loop_ub = e->size[0] * e->size[1] - 1; |
| 1403 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 1404 | obj->Limits->data[b_kstr] = e->data[b_kstr]; |
| 1405 | } |
| 1406 | |
| 1407 | cartesian_trajec_emxFree_real_T(&e); |
| 1408 | obj->Solver->ExtraArgs = iobj_0; |
| 1409 | for (b_kstr = 0; b_kstr < 36; b_kstr++) { |
| 1410 | obj->Solver->ExtraArgs->WeightMatrix[b_kstr] = 0.0; |
| 1411 | } |
| 1412 | |
| 1413 | obj->Solver->ExtraArgs->Robot = obj->RigidBodyTreeInternal; |
| 1414 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 1415 | b_I[b_kstr] = 0; |
| 1416 | } |
| 1417 | |
| 1418 | b_I[0] = 1; |
| 1419 | b_I[5] = 1; |
| 1420 | b_I[10] = 1; |
| 1421 | b_I[15] = 1; |
| 1422 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 1423 | obj->Solver->ExtraArgs->Tform[b_kstr] = b_I[b_kstr]; |
| 1424 | } |
| 1425 | |
| 1426 | obj->Solver->ExtraArgs->BodyName->size[0] = 1; |
| 1427 | obj->Solver->ExtraArgs->BodyName->size[1] = 0; |
| 1428 | b_kstr = obj->Solver->ExtraArgs->ErrTemp->size[0]; |
| 1429 | obj->Solver->ExtraArgs->ErrTemp->size[0] = 6; |
| 1430 | cartes_emxEnsureCapacity_real_T(obj->Solver->ExtraArgs->ErrTemp, b_kstr); |
| 1431 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 1432 | obj->Solver->ExtraArgs->ErrTemp->data[b_kstr] = 0.0; |
| 1433 | } |
| 1434 | |
| 1435 | obj->Solver->ExtraArgs->CostTemp = 0.0; |
| 1436 | b_kstr = b->size[0]; |
| 1437 | b->size[0] = static_cast<int32_T>(obj->RigidBodyTreeInternal->PositionNumber); |
| 1438 | cartes_emxEnsureCapacity_real_T(b, b_kstr); |
| 1439 | loop_ub = static_cast<int32_T>(obj->RigidBodyTreeInternal->PositionNumber); |
| 1440 | for (b_kstr = 0; b_kstr < loop_ub; b_kstr++) { |
| 1441 | b->data[b_kstr] = 0.0; |
| 1442 | } |
| 1443 | |
| 1444 | b_kstr = obj->Solver->ExtraArgs->GradTemp->size[0]; |
| 1445 | obj->Solver->ExtraArgs->GradTemp->size[0] = b->size[0]; |
| 1446 | cartes_emxEnsureCapacity_real_T(obj->Solver->ExtraArgs->GradTemp, b_kstr); |
| 1447 | loop_ub = b->size[0]; |
| 1448 | for (b_kstr = 0; b_kstr < loop_ub; b_kstr++) { |
| 1449 | obj->Solver->ExtraArgs->GradTemp->data[b_kstr] = b->data[b_kstr]; |
| 1450 | } |
| 1451 | |
| 1452 | cartesian_trajec_emxFree_real_T(&b); |
| 1453 | } |
| 1454 | |
| 1455 | static void c_inverseKinematics_setPoseGoal(b_inverseKinematics_cartesian_T *obj, |
| 1456 | const real_T tform[16], const real_T weights[6]) |
| 1457 | { |
| 1458 | real_T weightMatrix[36]; |
| 1459 | f_robotics_manip_internal_IKE_T *args; |
| 1460 | int32_T b_j; |
| 1461 | static const char_T tmp[11] = { 'e', 'd', 'o', '_', 'l', 'i', 'n', 'k', '_', |
| 1462 | 'e', 'e' }; |
| 1463 | |
| 1464 | memset(&weightMatrix[0], 0, 36U * sizeof(real_T)); |
| 1465 | for (b_j = 0; b_j < 6; b_j++) { |
| 1466 | weightMatrix[b_j + 6 * b_j] = weights[b_j]; |
| 1467 | } |
| 1468 | |
| 1469 | args = obj->Solver->ExtraArgs; |
| 1470 | for (b_j = 0; b_j < 36; b_j++) { |
| 1471 | args->WeightMatrix[b_j] = weightMatrix[b_j]; |
| 1472 | } |
| 1473 | |
| 1474 | b_j = args->BodyName->size[0] * args->BodyName->size[1]; |
| 1475 | args->BodyName->size[0] = 1; |
| 1476 | args->BodyName->size[1] = 11; |
| 1477 | cartes_emxEnsureCapacity_char_T(args->BodyName, b_j); |
| 1478 | for (b_j = 0; b_j < 11; b_j++) { |
| 1479 | args->BodyName->data[b_j] = tmp[b_j]; |
| 1480 | } |
| 1481 | |
| 1482 | for (b_j = 0; b_j < 16; b_j++) { |
| 1483 | args->Tform[b_j] = tform[b_j]; |
| 1484 | } |
| 1485 | } |
| 1486 | |
| 1487 | static void RigidBodyTree_validateConfigu_a(x_robotics_manip_internal_Rig_T *obj, |
| 1488 | real_T Q[6]) |
| 1489 | { |
| 1490 | emxArray_real_T_cartesian_tra_T *limits; |
| 1491 | boolean_T ubOK[6]; |
| 1492 | boolean_T lbOK[6]; |
| 1493 | real_T k; |
| 1494 | w_robotics_manip_internal_Rig_T *body; |
| 1495 | real_T pnum; |
| 1496 | int32_T c; |
| 1497 | int32_T f; |
| 1498 | int32_T ii_data[6]; |
| 1499 | boolean_T b_bool; |
| 1500 | emxArray_char_T_cartesian_tra_T *a; |
| 1501 | c_rigidBodyJoint_cartesian__a_T *obj_0; |
| 1502 | int32_T idx; |
| 1503 | int32_T b_kstr; |
| 1504 | char_T b[5]; |
| 1505 | int32_T loop_ub; |
| 1506 | emxArray_real_T_cartesian_tra_T *limits_0; |
| 1507 | emxArray_real_T_cartesian_tra_T *limits_1; |
| 1508 | static const char_T tmp[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 1509 | |
| 1510 | boolean_T guard1 = false; |
| 1511 | int32_T exitg1; |
| 1512 | boolean_T exitg2; |
| 1513 | cartesian_trajec_emxInit_real_T(&limits, 2); |
| 1514 | b_kstr = limits->size[0] * limits->size[1]; |
| 1515 | limits->size[0] = static_cast<int32_T>(obj->PositionNumber); |
| 1516 | limits->size[1] = 2; |
| 1517 | cartes_emxEnsureCapacity_real_T(limits, b_kstr); |
| 1518 | loop_ub = (static_cast<int32_T>(obj->PositionNumber) << 1) - 1; |
| 1519 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 1520 | limits->data[b_kstr] = 0.0; |
| 1521 | } |
| 1522 | |
| 1523 | k = 1.0; |
| 1524 | pnum = obj->NumBodies; |
| 1525 | c = static_cast<int32_T>(pnum) - 1; |
| 1526 | cartesian_trajec_emxInit_char_T(&a, 2); |
| 1527 | if (0 <= c) { |
| 1528 | for (b_kstr = 0; b_kstr < 5; b_kstr++) { |
| 1529 | b[b_kstr] = tmp[b_kstr]; |
| 1530 | } |
| 1531 | } |
| 1532 | |
| 1533 | for (idx = 0; idx <= c; idx++) { |
| 1534 | body = obj->Bodies[idx]; |
| 1535 | b_kstr = a->size[0] * a->size[1]; |
| 1536 | a->size[0] = 1; |
| 1537 | a->size[1] = body->JointInternal->Type->size[1]; |
| 1538 | cartes_emxEnsureCapacity_char_T(a, b_kstr); |
| 1539 | loop_ub = body->JointInternal->Type->size[0] * body->JointInternal-> |
| 1540 | Type->size[1] - 1; |
| 1541 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 1542 | a->data[b_kstr] = body->JointInternal->Type->data[b_kstr]; |
| 1543 | } |
| 1544 | |
| 1545 | b_bool = false; |
| 1546 | if (a->size[1] == 5) { |
| 1547 | b_kstr = 1; |
| 1548 | do { |
| 1549 | exitg1 = 0; |
| 1550 | if (b_kstr - 1 < 5) { |
| 1551 | loop_ub = b_kstr - 1; |
| 1552 | if (a->data[loop_ub] != b[loop_ub]) { |
| 1553 | exitg1 = 1; |
| 1554 | } else { |
| 1555 | b_kstr++; |
| 1556 | } |
| 1557 | } else { |
| 1558 | b_bool = true; |
| 1559 | exitg1 = 1; |
| 1560 | } |
| 1561 | } while (exitg1 == 0); |
| 1562 | } |
| 1563 | |
| 1564 | if (!b_bool) { |
| 1565 | pnum = body->JointInternal->PositionNumber; |
| 1566 | pnum += k; |
| 1567 | if (k > pnum - 1.0) { |
| 1568 | f = 0; |
| 1569 | } else { |
| 1570 | f = static_cast<int32_T>(k) - 1; |
| 1571 | } |
| 1572 | |
| 1573 | obj_0 = body->JointInternal; |
| 1574 | loop_ub = obj_0->PositionLimitsInternal->size[0]; |
| 1575 | for (b_kstr = 0; b_kstr < loop_ub; b_kstr++) { |
| 1576 | limits->data[f + b_kstr] = obj_0->PositionLimitsInternal->data[b_kstr]; |
| 1577 | } |
| 1578 | |
| 1579 | loop_ub = obj_0->PositionLimitsInternal->size[0]; |
| 1580 | for (b_kstr = 0; b_kstr < loop_ub; b_kstr++) { |
| 1581 | limits->data[(f + b_kstr) + limits->size[0]] = |
| 1582 | obj_0->PositionLimitsInternal->data[b_kstr + |
| 1583 | obj_0->PositionLimitsInternal->size[0]]; |
| 1584 | } |
| 1585 | |
| 1586 | k = pnum; |
| 1587 | } |
| 1588 | } |
| 1589 | |
| 1590 | cartesian_trajec_emxFree_char_T(&a); |
| 1591 | cartesian_trajec_emxInit_real_T(&limits_0, 1); |
| 1592 | loop_ub = limits->size[0]; |
| 1593 | b_kstr = limits_0->size[0]; |
| 1594 | limits_0->size[0] = loop_ub; |
| 1595 | cartes_emxEnsureCapacity_real_T(limits_0, b_kstr); |
| 1596 | for (b_kstr = 0; b_kstr < loop_ub; b_kstr++) { |
| 1597 | limits_0->data[b_kstr] = limits->data[b_kstr + limits->size[0]] + |
| 1598 | 4.4408920985006262E-16; |
| 1599 | } |
| 1600 | |
| 1601 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 1602 | ubOK[b_kstr] = (Q[b_kstr] <= limits_0->data[b_kstr]); |
| 1603 | } |
| 1604 | |
| 1605 | cartesian_trajec_emxFree_real_T(&limits_0); |
| 1606 | cartesian_trajec_emxInit_real_T(&limits_1, 1); |
| 1607 | loop_ub = limits->size[0]; |
| 1608 | b_kstr = limits_1->size[0]; |
| 1609 | limits_1->size[0] = loop_ub; |
| 1610 | cartes_emxEnsureCapacity_real_T(limits_1, b_kstr); |
| 1611 | for (b_kstr = 0; b_kstr < loop_ub; b_kstr++) { |
| 1612 | limits_1->data[b_kstr] = limits->data[b_kstr] - 4.4408920985006262E-16; |
| 1613 | } |
| 1614 | |
| 1615 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 1616 | lbOK[b_kstr] = (Q[b_kstr] >= limits_1->data[b_kstr]); |
| 1617 | } |
| 1618 | |
| 1619 | cartesian_trajec_emxFree_real_T(&limits_1); |
| 1620 | b_bool = true; |
| 1621 | idx = 0; |
| 1622 | exitg2 = false; |
| 1623 | while ((!exitg2) && (idx < 6)) { |
| 1624 | if (!ubOK[idx]) { |
| 1625 | b_bool = false; |
| 1626 | exitg2 = true; |
| 1627 | } else { |
| 1628 | idx++; |
| 1629 | } |
| 1630 | } |
| 1631 | |
| 1632 | guard1 = false; |
| 1633 | if (b_bool) { |
| 1634 | b_bool = true; |
| 1635 | idx = 0; |
| 1636 | exitg2 = false; |
| 1637 | while ((!exitg2) && (idx < 6)) { |
| 1638 | if (!lbOK[idx]) { |
| 1639 | b_bool = false; |
| 1640 | exitg2 = true; |
| 1641 | } else { |
| 1642 | idx++; |
| 1643 | } |
| 1644 | } |
| 1645 | |
| 1646 | if (b_bool) { |
| 1647 | } else { |
| 1648 | guard1 = true; |
| 1649 | } |
| 1650 | } else { |
| 1651 | guard1 = true; |
| 1652 | } |
| 1653 | |
| 1654 | if (guard1) { |
| 1655 | idx = 0; |
| 1656 | b_kstr = 1; |
| 1657 | exitg2 = false; |
| 1658 | while ((!exitg2) && (b_kstr - 1 < 6)) { |
| 1659 | if (!ubOK[b_kstr - 1]) { |
| 1660 | idx++; |
| 1661 | ii_data[idx - 1] = b_kstr; |
| 1662 | if (idx >= 6) { |
| 1663 | exitg2 = true; |
| 1664 | } else { |
| 1665 | b_kstr++; |
| 1666 | } |
| 1667 | } else { |
| 1668 | b_kstr++; |
| 1669 | } |
| 1670 | } |
| 1671 | |
| 1672 | if (1 > idx) { |
| 1673 | idx = 0; |
| 1674 | } |
| 1675 | |
| 1676 | for (b_kstr = 0; b_kstr < idx; b_kstr++) { |
| 1677 | Q[ii_data[b_kstr] - 1] = limits->data[(ii_data[b_kstr] + limits->size[0]) |
| 1678 | - 1]; |
| 1679 | } |
| 1680 | |
| 1681 | idx = 0; |
| 1682 | b_kstr = 1; |
| 1683 | exitg2 = false; |
| 1684 | while ((!exitg2) && (b_kstr - 1 < 6)) { |
| 1685 | if (!lbOK[b_kstr - 1]) { |
| 1686 | idx++; |
| 1687 | ii_data[idx - 1] = b_kstr; |
| 1688 | if (idx >= 6) { |
| 1689 | exitg2 = true; |
| 1690 | } else { |
| 1691 | b_kstr++; |
| 1692 | } |
| 1693 | } else { |
| 1694 | b_kstr++; |
| 1695 | } |
| 1696 | } |
| 1697 | |
| 1698 | if (1 > idx) { |
| 1699 | idx = 0; |
| 1700 | } |
| 1701 | |
| 1702 | for (b_kstr = 0; b_kstr < idx; b_kstr++) { |
| 1703 | Q[ii_data[b_kstr] - 1] = limits->data[ii_data[b_kstr] - 1]; |
| 1704 | } |
| 1705 | } |
| 1706 | |
| 1707 | cartesian_trajec_emxFree_real_T(&limits); |
| 1708 | } |
| 1709 | |
| 1710 | static boolean_T cartesian_trajectory_pla_strcmp(const |
| 1711 | emxArray_char_T_cartesian_tra_T *a, const emxArray_char_T_cartesian_tra_T *b) |
| 1712 | { |
| 1713 | boolean_T b_bool; |
| 1714 | int32_T kstr; |
| 1715 | int32_T b_kstr; |
| 1716 | boolean_T d; |
| 1717 | int32_T exitg1; |
| 1718 | b_bool = false; |
| 1719 | d = (a->size[1] == 0); |
| 1720 | if (d && (b->size[1] == 0)) { |
| 1721 | b_bool = true; |
| 1722 | } else if (a->size[1] != b->size[1]) { |
| 1723 | } else { |
| 1724 | b_kstr = 1; |
| 1725 | do { |
| 1726 | exitg1 = 0; |
| 1727 | if (b_kstr - 1 <= b->size[1] - 1) { |
| 1728 | kstr = b_kstr - 1; |
| 1729 | if (a->data[kstr] != b->data[kstr]) { |
| 1730 | exitg1 = 1; |
| 1731 | } else { |
| 1732 | b_kstr++; |
| 1733 | } |
| 1734 | } else { |
| 1735 | b_bool = true; |
| 1736 | exitg1 = 1; |
| 1737 | } |
| 1738 | } while (exitg1 == 0); |
| 1739 | } |
| 1740 | |
| 1741 | return b_bool; |
| 1742 | } |
| 1743 | |
| 1744 | static void rigidBodyJoint_get_JointAxis_a(const c_rigidBodyJoint_cartesian__a_T |
| 1745 | *obj, real_T ax[3]) |
| 1746 | { |
| 1747 | emxArray_char_T_cartesian_tra_T *a; |
| 1748 | static const char_T tmp[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 1749 | |
| 1750 | static const char_T tmp_0[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 1751 | |
| 1752 | boolean_T guard1 = false; |
| 1753 | int32_T exitg1; |
| 1754 | cartesian_trajec_emxInit_char_T(&a, 2); |
| 1755 | cartesian_trajectory_planner_B.b_kstr_hz = a->size[0] * a->size[1]; |
| 1756 | a->size[0] = 1; |
| 1757 | a->size[1] = obj->Type->size[1]; |
| 1758 | cartes_emxEnsureCapacity_char_T(a, cartesian_trajectory_planner_B.b_kstr_hz); |
| 1759 | cartesian_trajectory_planner_B.loop_ub_b = obj->Type->size[0] * obj-> |
| 1760 | Type->size[1] - 1; |
| 1761 | for (cartesian_trajectory_planner_B.b_kstr_hz = 0; |
| 1762 | cartesian_trajectory_planner_B.b_kstr_hz <= |
| 1763 | cartesian_trajectory_planner_B.loop_ub_b; |
| 1764 | cartesian_trajectory_planner_B.b_kstr_hz++) { |
| 1765 | a->data[cartesian_trajectory_planner_B.b_kstr_hz] = obj->Type-> |
| 1766 | data[cartesian_trajectory_planner_B.b_kstr_hz]; |
| 1767 | } |
| 1768 | |
| 1769 | for (cartesian_trajectory_planner_B.b_kstr_hz = 0; |
| 1770 | cartesian_trajectory_planner_B.b_kstr_hz < 8; |
| 1771 | cartesian_trajectory_planner_B.b_kstr_hz++) { |
| 1772 | cartesian_trajectory_planner_B.b_fx[cartesian_trajectory_planner_B.b_kstr_hz] |
| 1773 | = tmp[cartesian_trajectory_planner_B.b_kstr_hz]; |
| 1774 | } |
| 1775 | |
| 1776 | cartesian_trajectory_planner_B.b_bool_m = false; |
| 1777 | if (a->size[1] == 8) { |
| 1778 | cartesian_trajectory_planner_B.b_kstr_hz = 1; |
| 1779 | do { |
| 1780 | exitg1 = 0; |
| 1781 | if (cartesian_trajectory_planner_B.b_kstr_hz - 1 < 8) { |
| 1782 | cartesian_trajectory_planner_B.loop_ub_b = |
| 1783 | cartesian_trajectory_planner_B.b_kstr_hz - 1; |
| 1784 | if (a->data[cartesian_trajectory_planner_B.loop_ub_b] != |
| 1785 | cartesian_trajectory_planner_B.b_fx[cartesian_trajectory_planner_B.loop_ub_b]) |
| 1786 | { |
| 1787 | exitg1 = 1; |
| 1788 | } else { |
| 1789 | cartesian_trajectory_planner_B.b_kstr_hz++; |
| 1790 | } |
| 1791 | } else { |
| 1792 | cartesian_trajectory_planner_B.b_bool_m = true; |
| 1793 | exitg1 = 1; |
| 1794 | } |
| 1795 | } while (exitg1 == 0); |
| 1796 | } |
| 1797 | |
| 1798 | guard1 = false; |
| 1799 | if (cartesian_trajectory_planner_B.b_bool_m) { |
| 1800 | guard1 = true; |
| 1801 | } else { |
| 1802 | cartesian_trajectory_planner_B.b_kstr_hz = a->size[0] * a->size[1]; |
| 1803 | a->size[0] = 1; |
| 1804 | a->size[1] = obj->Type->size[1]; |
| 1805 | cartes_emxEnsureCapacity_char_T(a, cartesian_trajectory_planner_B.b_kstr_hz); |
| 1806 | cartesian_trajectory_planner_B.loop_ub_b = obj->Type->size[0] * obj-> |
| 1807 | Type->size[1] - 1; |
| 1808 | for (cartesian_trajectory_planner_B.b_kstr_hz = 0; |
| 1809 | cartesian_trajectory_planner_B.b_kstr_hz <= |
| 1810 | cartesian_trajectory_planner_B.loop_ub_b; |
| 1811 | cartesian_trajectory_planner_B.b_kstr_hz++) { |
| 1812 | a->data[cartesian_trajectory_planner_B.b_kstr_hz] = obj->Type-> |
| 1813 | data[cartesian_trajectory_planner_B.b_kstr_hz]; |
| 1814 | } |
| 1815 | |
| 1816 | for (cartesian_trajectory_planner_B.b_kstr_hz = 0; |
| 1817 | cartesian_trajectory_planner_B.b_kstr_hz < 9; |
| 1818 | cartesian_trajectory_planner_B.b_kstr_hz++) { |
| 1819 | cartesian_trajectory_planner_B.b_f[cartesian_trajectory_planner_B.b_kstr_hz] |
| 1820 | = tmp_0[cartesian_trajectory_planner_B.b_kstr_hz]; |
| 1821 | } |
| 1822 | |
| 1823 | cartesian_trajectory_planner_B.b_bool_m = false; |
| 1824 | if (a->size[1] == 9) { |
| 1825 | cartesian_trajectory_planner_B.b_kstr_hz = 1; |
| 1826 | do { |
| 1827 | exitg1 = 0; |
| 1828 | if (cartesian_trajectory_planner_B.b_kstr_hz - 1 < 9) { |
| 1829 | cartesian_trajectory_planner_B.loop_ub_b = |
| 1830 | cartesian_trajectory_planner_B.b_kstr_hz - 1; |
| 1831 | if (a->data[cartesian_trajectory_planner_B.loop_ub_b] != |
| 1832 | cartesian_trajectory_planner_B.b_f[cartesian_trajectory_planner_B.loop_ub_b]) |
| 1833 | { |
| 1834 | exitg1 = 1; |
| 1835 | } else { |
| 1836 | cartesian_trajectory_planner_B.b_kstr_hz++; |
| 1837 | } |
| 1838 | } else { |
| 1839 | cartesian_trajectory_planner_B.b_bool_m = true; |
| 1840 | exitg1 = 1; |
| 1841 | } |
| 1842 | } while (exitg1 == 0); |
| 1843 | } |
| 1844 | |
| 1845 | if (cartesian_trajectory_planner_B.b_bool_m) { |
| 1846 | guard1 = true; |
| 1847 | } else { |
| 1848 | ax[0] = (rtNaN); |
| 1849 | ax[1] = (rtNaN); |
| 1850 | ax[2] = (rtNaN); |
| 1851 | } |
| 1852 | } |
| 1853 | |
| 1854 | if (guard1) { |
| 1855 | ax[0] = obj->JointAxisInternal[0]; |
| 1856 | ax[1] = obj->JointAxisInternal[1]; |
| 1857 | ax[2] = obj->JointAxisInternal[2]; |
| 1858 | } |
| 1859 | |
| 1860 | cartesian_trajec_emxFree_char_T(&a); |
| 1861 | } |
| 1862 | |
| 1863 | static void cartesian_trajectory_planne_cat(real_T varargin_1, real_T varargin_2, |
| 1864 | real_T varargin_3, real_T varargin_4, real_T varargin_5, real_T varargin_6, |
| 1865 | real_T varargin_7, real_T varargin_8, real_T varargin_9, real_T y[9]) |
| 1866 | { |
| 1867 | y[0] = varargin_1; |
| 1868 | y[1] = varargin_2; |
| 1869 | y[2] = varargin_3; |
| 1870 | y[3] = varargin_4; |
| 1871 | y[4] = varargin_5; |
| 1872 | y[5] = varargin_6; |
| 1873 | y[6] = varargin_7; |
| 1874 | y[7] = varargin_8; |
| 1875 | y[8] = varargin_9; |
| 1876 | } |
| 1877 | |
| 1878 | static void rigidBodyJoint_transformBodyT_a(const |
| 1879 | c_rigidBodyJoint_cartesian__a_T *obj, const real_T q_data[], const int32_T |
| 1880 | *q_size, real_T T[16]) |
| 1881 | { |
| 1882 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 1883 | static const char_T tmp[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 1884 | |
| 1885 | static const char_T tmp_0[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 1886 | |
| 1887 | int32_T exitg1; |
| 1888 | cartesian_trajec_emxInit_char_T(&switch_expression, 2); |
| 1889 | cartesian_trajectory_planner_B.b_kstr_h = switch_expression->size[0] * |
| 1890 | switch_expression->size[1]; |
| 1891 | switch_expression->size[0] = 1; |
| 1892 | switch_expression->size[1] = obj->Type->size[1]; |
| 1893 | cartes_emxEnsureCapacity_char_T(switch_expression, |
| 1894 | cartesian_trajectory_planner_B.b_kstr_h); |
| 1895 | cartesian_trajectory_planner_B.loop_ub_k = obj->Type->size[0] * obj-> |
| 1896 | Type->size[1] - 1; |
| 1897 | for (cartesian_trajectory_planner_B.b_kstr_h = 0; |
| 1898 | cartesian_trajectory_planner_B.b_kstr_h <= |
| 1899 | cartesian_trajectory_planner_B.loop_ub_k; |
| 1900 | cartesian_trajectory_planner_B.b_kstr_h++) { |
| 1901 | switch_expression->data[cartesian_trajectory_planner_B.b_kstr_h] = obj-> |
| 1902 | Type->data[cartesian_trajectory_planner_B.b_kstr_h]; |
| 1903 | } |
| 1904 | |
| 1905 | for (cartesian_trajectory_planner_B.b_kstr_h = 0; |
| 1906 | cartesian_trajectory_planner_B.b_kstr_h < 5; |
| 1907 | cartesian_trajectory_planner_B.b_kstr_h++) { |
| 1908 | cartesian_trajectory_planner_B.b_jo[cartesian_trajectory_planner_B.b_kstr_h] |
| 1909 | = tmp[cartesian_trajectory_planner_B.b_kstr_h]; |
| 1910 | } |
| 1911 | |
| 1912 | cartesian_trajectory_planner_B.b_bool_i = false; |
| 1913 | if (switch_expression->size[1] == 5) { |
| 1914 | cartesian_trajectory_planner_B.b_kstr_h = 1; |
| 1915 | do { |
| 1916 | exitg1 = 0; |
| 1917 | if (cartesian_trajectory_planner_B.b_kstr_h - 1 < 5) { |
| 1918 | cartesian_trajectory_planner_B.loop_ub_k = |
| 1919 | cartesian_trajectory_planner_B.b_kstr_h - 1; |
| 1920 | if (switch_expression->data[cartesian_trajectory_planner_B.loop_ub_k] != |
| 1921 | cartesian_trajectory_planner_B.b_jo[cartesian_trajectory_planner_B.loop_ub_k]) |
| 1922 | { |
| 1923 | exitg1 = 1; |
| 1924 | } else { |
| 1925 | cartesian_trajectory_planner_B.b_kstr_h++; |
| 1926 | } |
| 1927 | } else { |
| 1928 | cartesian_trajectory_planner_B.b_bool_i = true; |
| 1929 | exitg1 = 1; |
| 1930 | } |
| 1931 | } while (exitg1 == 0); |
| 1932 | } |
| 1933 | |
| 1934 | if (cartesian_trajectory_planner_B.b_bool_i) { |
| 1935 | cartesian_trajectory_planner_B.b_kstr_h = 0; |
| 1936 | } else { |
| 1937 | for (cartesian_trajectory_planner_B.b_kstr_h = 0; |
| 1938 | cartesian_trajectory_planner_B.b_kstr_h < 8; |
| 1939 | cartesian_trajectory_planner_B.b_kstr_h++) { |
| 1940 | cartesian_trajectory_planner_B.b_c[cartesian_trajectory_planner_B.b_kstr_h] |
| 1941 | = tmp_0[cartesian_trajectory_planner_B.b_kstr_h]; |
| 1942 | } |
| 1943 | |
| 1944 | cartesian_trajectory_planner_B.b_bool_i = false; |
| 1945 | if (switch_expression->size[1] == 8) { |
| 1946 | cartesian_trajectory_planner_B.b_kstr_h = 1; |
| 1947 | do { |
| 1948 | exitg1 = 0; |
| 1949 | if (cartesian_trajectory_planner_B.b_kstr_h - 1 < 8) { |
| 1950 | cartesian_trajectory_planner_B.loop_ub_k = |
| 1951 | cartesian_trajectory_planner_B.b_kstr_h - 1; |
| 1952 | if (switch_expression->data[cartesian_trajectory_planner_B.loop_ub_k] |
| 1953 | != |
| 1954 | cartesian_trajectory_planner_B.b_c[cartesian_trajectory_planner_B.loop_ub_k]) |
| 1955 | { |
| 1956 | exitg1 = 1; |
| 1957 | } else { |
| 1958 | cartesian_trajectory_planner_B.b_kstr_h++; |
| 1959 | } |
| 1960 | } else { |
| 1961 | cartesian_trajectory_planner_B.b_bool_i = true; |
| 1962 | exitg1 = 1; |
| 1963 | } |
| 1964 | } while (exitg1 == 0); |
| 1965 | } |
| 1966 | |
| 1967 | if (cartesian_trajectory_planner_B.b_bool_i) { |
| 1968 | cartesian_trajectory_planner_B.b_kstr_h = 1; |
| 1969 | } else { |
| 1970 | cartesian_trajectory_planner_B.b_kstr_h = -1; |
| 1971 | } |
| 1972 | } |
| 1973 | |
| 1974 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 1975 | switch (cartesian_trajectory_planner_B.b_kstr_h) { |
| 1976 | case 0: |
| 1977 | memset(&cartesian_trajectory_planner_B.TJ[0], 0, sizeof(real_T) << 4U); |
| 1978 | cartesian_trajectory_planner_B.TJ[0] = 1.0; |
| 1979 | cartesian_trajectory_planner_B.TJ[5] = 1.0; |
| 1980 | cartesian_trajectory_planner_B.TJ[10] = 1.0; |
| 1981 | cartesian_trajectory_planner_B.TJ[15] = 1.0; |
| 1982 | break; |
| 1983 | |
| 1984 | case 1: |
| 1985 | rigidBodyJoint_get_JointAxis_a(obj, cartesian_trajectory_planner_B.v_b); |
| 1986 | cartesian_trajectory_planner_B.loop_ub_k = (*q_size != 0) - 1; |
| 1987 | cartesian_trajectory_planner_B.result_data[0] = |
| 1988 | cartesian_trajectory_planner_B.v_b[0]; |
| 1989 | cartesian_trajectory_planner_B.result_data[1] = |
| 1990 | cartesian_trajectory_planner_B.v_b[1]; |
| 1991 | cartesian_trajectory_planner_B.result_data[2] = |
| 1992 | cartesian_trajectory_planner_B.v_b[2]; |
| 1993 | for (cartesian_trajectory_planner_B.b_kstr_h = 0; |
| 1994 | cartesian_trajectory_planner_B.b_kstr_h <= |
| 1995 | cartesian_trajectory_planner_B.loop_ub_k; |
| 1996 | cartesian_trajectory_planner_B.b_kstr_h++) { |
| 1997 | cartesian_trajectory_planner_B.result_data[3] = q_data[0]; |
| 1998 | } |
| 1999 | |
| 2000 | cartesian_trajectory_planner_B.cth = 1.0 / sqrt |
| 2001 | ((cartesian_trajectory_planner_B.result_data[0] * |
| 2002 | cartesian_trajectory_planner_B.result_data[0] + |
| 2003 | cartesian_trajectory_planner_B.result_data[1] * |
| 2004 | cartesian_trajectory_planner_B.result_data[1]) + |
| 2005 | cartesian_trajectory_planner_B.result_data[2] * |
| 2006 | cartesian_trajectory_planner_B.result_data[2]); |
| 2007 | cartesian_trajectory_planner_B.v_b[0] = |
| 2008 | cartesian_trajectory_planner_B.result_data[0] * |
| 2009 | cartesian_trajectory_planner_B.cth; |
| 2010 | cartesian_trajectory_planner_B.v_b[1] = |
| 2011 | cartesian_trajectory_planner_B.result_data[1] * |
| 2012 | cartesian_trajectory_planner_B.cth; |
| 2013 | cartesian_trajectory_planner_B.v_b[2] = |
| 2014 | cartesian_trajectory_planner_B.result_data[2] * |
| 2015 | cartesian_trajectory_planner_B.cth; |
| 2016 | cartesian_trajectory_planner_B.cth = cos |
| 2017 | (cartesian_trajectory_planner_B.result_data[3]); |
| 2018 | cartesian_trajectory_planner_B.sth = sin |
| 2019 | (cartesian_trajectory_planner_B.result_data[3]); |
| 2020 | cartesian_trajectory_planner_B.tempR_tmp_o = |
| 2021 | cartesian_trajectory_planner_B.v_b[1] * |
| 2022 | cartesian_trajectory_planner_B.v_b[0] * (1.0 - |
| 2023 | cartesian_trajectory_planner_B.cth); |
| 2024 | cartesian_trajectory_planner_B.tempR_tmp_c = |
| 2025 | cartesian_trajectory_planner_B.v_b[2] * cartesian_trajectory_planner_B.sth; |
| 2026 | cartesian_trajectory_planner_B.tempR_tmp_b = |
| 2027 | cartesian_trajectory_planner_B.v_b[2] * |
| 2028 | cartesian_trajectory_planner_B.v_b[0] * (1.0 - |
| 2029 | cartesian_trajectory_planner_B.cth); |
| 2030 | cartesian_trajectory_planner_B.tempR_tmp_e = |
| 2031 | cartesian_trajectory_planner_B.v_b[1] * cartesian_trajectory_planner_B.sth; |
| 2032 | cartesian_trajectory_planner_B.tempR_tmp_dd = |
| 2033 | cartesian_trajectory_planner_B.v_b[2] * |
| 2034 | cartesian_trajectory_planner_B.v_b[1] * (1.0 - |
| 2035 | cartesian_trajectory_planner_B.cth); |
| 2036 | cartesian_trajectory_planner_B.sth *= cartesian_trajectory_planner_B.v_b[0]; |
| 2037 | cartesian_trajectory_planne_cat(cartesian_trajectory_planner_B.v_b[0] * |
| 2038 | cartesian_trajectory_planner_B.v_b[0] * (1.0 - |
| 2039 | cartesian_trajectory_planner_B.cth) + cartesian_trajectory_planner_B.cth, |
| 2040 | cartesian_trajectory_planner_B.tempR_tmp_o - |
| 2041 | cartesian_trajectory_planner_B.tempR_tmp_c, |
| 2042 | cartesian_trajectory_planner_B.tempR_tmp_b + |
| 2043 | cartesian_trajectory_planner_B.tempR_tmp_e, |
| 2044 | cartesian_trajectory_planner_B.tempR_tmp_o + |
| 2045 | cartesian_trajectory_planner_B.tempR_tmp_c, |
| 2046 | cartesian_trajectory_planner_B.v_b[1] * |
| 2047 | cartesian_trajectory_planner_B.v_b[1] * (1.0 - |
| 2048 | cartesian_trajectory_planner_B.cth) + cartesian_trajectory_planner_B.cth, |
| 2049 | cartesian_trajectory_planner_B.tempR_tmp_dd - |
| 2050 | cartesian_trajectory_planner_B.sth, |
| 2051 | cartesian_trajectory_planner_B.tempR_tmp_b - |
| 2052 | cartesian_trajectory_planner_B.tempR_tmp_e, |
| 2053 | cartesian_trajectory_planner_B.tempR_tmp_dd + |
| 2054 | cartesian_trajectory_planner_B.sth, cartesian_trajectory_planner_B.v_b[2] * |
| 2055 | cartesian_trajectory_planner_B.v_b[2] * (1.0 - |
| 2056 | cartesian_trajectory_planner_B.cth) + cartesian_trajectory_planner_B.cth, |
| 2057 | cartesian_trajectory_planner_B.tempR_f); |
| 2058 | for (cartesian_trajectory_planner_B.b_kstr_h = 0; |
| 2059 | cartesian_trajectory_planner_B.b_kstr_h < 3; |
| 2060 | cartesian_trajectory_planner_B.b_kstr_h++) { |
| 2061 | cartesian_trajectory_planner_B.loop_ub_k = |
| 2062 | cartesian_trajectory_planner_B.b_kstr_h + 1; |
| 2063 | cartesian_trajectory_planner_B.R_iz[cartesian_trajectory_planner_B.loop_ub_k |
| 2064 | - 1] = cartesian_trajectory_planner_B.tempR_f |
| 2065 | [(cartesian_trajectory_planner_B.loop_ub_k - 1) * 3]; |
| 2066 | cartesian_trajectory_planner_B.loop_ub_k = |
| 2067 | cartesian_trajectory_planner_B.b_kstr_h + 1; |
| 2068 | cartesian_trajectory_planner_B.R_iz[cartesian_trajectory_planner_B.loop_ub_k |
| 2069 | + 2] = cartesian_trajectory_planner_B.tempR_f |
| 2070 | [(cartesian_trajectory_planner_B.loop_ub_k - 1) * 3 + 1]; |
| 2071 | cartesian_trajectory_planner_B.loop_ub_k = |
| 2072 | cartesian_trajectory_planner_B.b_kstr_h + 1; |
| 2073 | cartesian_trajectory_planner_B.R_iz[cartesian_trajectory_planner_B.loop_ub_k |
| 2074 | + 5] = cartesian_trajectory_planner_B.tempR_f |
| 2075 | [(cartesian_trajectory_planner_B.loop_ub_k - 1) * 3 + 2]; |
| 2076 | } |
| 2077 | |
| 2078 | memset(&cartesian_trajectory_planner_B.TJ[0], 0, sizeof(real_T) << 4U); |
| 2079 | for (cartesian_trajectory_planner_B.b_kstr_h = 0; |
| 2080 | cartesian_trajectory_planner_B.b_kstr_h < 3; |
| 2081 | cartesian_trajectory_planner_B.b_kstr_h++) { |
| 2082 | cartesian_trajectory_planner_B.loop_ub_k = |
| 2083 | cartesian_trajectory_planner_B.b_kstr_h << 2; |
| 2084 | cartesian_trajectory_planner_B.TJ[cartesian_trajectory_planner_B.loop_ub_k] |
| 2085 | = cartesian_trajectory_planner_B.R_iz[3 * |
| 2086 | cartesian_trajectory_planner_B.b_kstr_h]; |
| 2087 | cartesian_trajectory_planner_B.TJ[cartesian_trajectory_planner_B.loop_ub_k |
| 2088 | + 1] = cartesian_trajectory_planner_B.R_iz[3 * |
| 2089 | cartesian_trajectory_planner_B.b_kstr_h + 1]; |
| 2090 | cartesian_trajectory_planner_B.TJ[cartesian_trajectory_planner_B.loop_ub_k |
| 2091 | + 2] = cartesian_trajectory_planner_B.R_iz[3 * |
| 2092 | cartesian_trajectory_planner_B.b_kstr_h + 2]; |
| 2093 | } |
| 2094 | |
| 2095 | cartesian_trajectory_planner_B.TJ[15] = 1.0; |
| 2096 | break; |
| 2097 | |
| 2098 | default: |
| 2099 | rigidBodyJoint_get_JointAxis_a(obj, cartesian_trajectory_planner_B.v_b); |
| 2100 | memset(&cartesian_trajectory_planner_B.tempR_f[0], 0, 9U * sizeof(real_T)); |
| 2101 | cartesian_trajectory_planner_B.tempR_f[0] = 1.0; |
| 2102 | cartesian_trajectory_planner_B.tempR_f[4] = 1.0; |
| 2103 | cartesian_trajectory_planner_B.tempR_f[8] = 1.0; |
| 2104 | for (cartesian_trajectory_planner_B.b_kstr_h = 0; |
| 2105 | cartesian_trajectory_planner_B.b_kstr_h < 3; |
| 2106 | cartesian_trajectory_planner_B.b_kstr_h++) { |
| 2107 | cartesian_trajectory_planner_B.loop_ub_k = |
| 2108 | cartesian_trajectory_planner_B.b_kstr_h << 2; |
| 2109 | cartesian_trajectory_planner_B.TJ[cartesian_trajectory_planner_B.loop_ub_k] |
| 2110 | = cartesian_trajectory_planner_B.tempR_f[3 * |
| 2111 | cartesian_trajectory_planner_B.b_kstr_h]; |
| 2112 | cartesian_trajectory_planner_B.TJ[cartesian_trajectory_planner_B.loop_ub_k |
| 2113 | + 1] = cartesian_trajectory_planner_B.tempR_f[3 * |
| 2114 | cartesian_trajectory_planner_B.b_kstr_h + 1]; |
| 2115 | cartesian_trajectory_planner_B.TJ[cartesian_trajectory_planner_B.loop_ub_k |
| 2116 | + 2] = cartesian_trajectory_planner_B.tempR_f[3 * |
| 2117 | cartesian_trajectory_planner_B.b_kstr_h + 2]; |
| 2118 | cartesian_trajectory_planner_B.TJ[cartesian_trajectory_planner_B.b_kstr_h |
| 2119 | + 12] = |
| 2120 | cartesian_trajectory_planner_B.v_b[cartesian_trajectory_planner_B.b_kstr_h] |
| 2121 | * q_data[0]; |
| 2122 | } |
| 2123 | |
| 2124 | cartesian_trajectory_planner_B.TJ[3] = 0.0; |
| 2125 | cartesian_trajectory_planner_B.TJ[7] = 0.0; |
| 2126 | cartesian_trajectory_planner_B.TJ[11] = 0.0; |
| 2127 | cartesian_trajectory_planner_B.TJ[15] = 1.0; |
| 2128 | break; |
| 2129 | } |
| 2130 | |
| 2131 | for (cartesian_trajectory_planner_B.b_kstr_h = 0; |
| 2132 | cartesian_trajectory_planner_B.b_kstr_h < 16; |
| 2133 | cartesian_trajectory_planner_B.b_kstr_h++) { |
| 2134 | cartesian_trajectory_planner_B.a[cartesian_trajectory_planner_B.b_kstr_h] = |
| 2135 | obj->JointToParentTransform[cartesian_trajectory_planner_B.b_kstr_h]; |
| 2136 | } |
| 2137 | |
| 2138 | for (cartesian_trajectory_planner_B.b_kstr_h = 0; |
| 2139 | cartesian_trajectory_planner_B.b_kstr_h < 16; |
| 2140 | cartesian_trajectory_planner_B.b_kstr_h++) { |
| 2141 | cartesian_trajectory_planner_B.b[cartesian_trajectory_planner_B.b_kstr_h] = |
| 2142 | obj->ChildToJointTransform[cartesian_trajectory_planner_B.b_kstr_h]; |
| 2143 | } |
| 2144 | |
| 2145 | for (cartesian_trajectory_planner_B.b_kstr_h = 0; |
| 2146 | cartesian_trajectory_planner_B.b_kstr_h < 4; |
| 2147 | cartesian_trajectory_planner_B.b_kstr_h++) { |
| 2148 | for (cartesian_trajectory_planner_B.loop_ub_k = 0; |
| 2149 | cartesian_trajectory_planner_B.loop_ub_k < 4; |
| 2150 | cartesian_trajectory_planner_B.loop_ub_k++) { |
| 2151 | cartesian_trajectory_planner_B.a_tmp_tmp = |
| 2152 | cartesian_trajectory_planner_B.loop_ub_k << 2; |
| 2153 | cartesian_trajectory_planner_B.a_tmp = |
| 2154 | cartesian_trajectory_planner_B.b_kstr_h + |
| 2155 | cartesian_trajectory_planner_B.a_tmp_tmp; |
| 2156 | cartesian_trajectory_planner_B.a_j[cartesian_trajectory_planner_B.a_tmp] = |
| 2157 | 0.0; |
| 2158 | cartesian_trajectory_planner_B.a_j[cartesian_trajectory_planner_B.a_tmp] += |
| 2159 | cartesian_trajectory_planner_B.TJ[cartesian_trajectory_planner_B.a_tmp_tmp] |
| 2160 | * cartesian_trajectory_planner_B.a[cartesian_trajectory_planner_B.b_kstr_h]; |
| 2161 | cartesian_trajectory_planner_B.a_j[cartesian_trajectory_planner_B.a_tmp] += |
| 2162 | cartesian_trajectory_planner_B.TJ[cartesian_trajectory_planner_B.a_tmp_tmp |
| 2163 | + 1] * |
| 2164 | cartesian_trajectory_planner_B.a[cartesian_trajectory_planner_B.b_kstr_h |
| 2165 | + 4]; |
| 2166 | cartesian_trajectory_planner_B.a_j[cartesian_trajectory_planner_B.a_tmp] += |
| 2167 | cartesian_trajectory_planner_B.TJ[cartesian_trajectory_planner_B.a_tmp_tmp |
| 2168 | + 2] * |
| 2169 | cartesian_trajectory_planner_B.a[cartesian_trajectory_planner_B.b_kstr_h |
| 2170 | + 8]; |
| 2171 | cartesian_trajectory_planner_B.a_j[cartesian_trajectory_planner_B.a_tmp] += |
| 2172 | cartesian_trajectory_planner_B.TJ[cartesian_trajectory_planner_B.a_tmp_tmp |
| 2173 | + 3] * |
| 2174 | cartesian_trajectory_planner_B.a[cartesian_trajectory_planner_B.b_kstr_h |
| 2175 | + 12]; |
| 2176 | } |
| 2177 | |
| 2178 | for (cartesian_trajectory_planner_B.loop_ub_k = 0; |
| 2179 | cartesian_trajectory_planner_B.loop_ub_k < 4; |
| 2180 | cartesian_trajectory_planner_B.loop_ub_k++) { |
| 2181 | cartesian_trajectory_planner_B.a_tmp_tmp = |
| 2182 | cartesian_trajectory_planner_B.loop_ub_k << 2; |
| 2183 | cartesian_trajectory_planner_B.a_tmp = |
| 2184 | cartesian_trajectory_planner_B.b_kstr_h + |
| 2185 | cartesian_trajectory_planner_B.a_tmp_tmp; |
| 2186 | T[cartesian_trajectory_planner_B.a_tmp] = 0.0; |
| 2187 | T[cartesian_trajectory_planner_B.a_tmp] += |
| 2188 | cartesian_trajectory_planner_B.b[cartesian_trajectory_planner_B.a_tmp_tmp] |
| 2189 | * cartesian_trajectory_planner_B.a_j[cartesian_trajectory_planner_B.b_kstr_h]; |
| 2190 | T[cartesian_trajectory_planner_B.a_tmp] += |
| 2191 | cartesian_trajectory_planner_B.b[cartesian_trajectory_planner_B.a_tmp_tmp |
| 2192 | + 1] * |
| 2193 | cartesian_trajectory_planner_B.a_j[cartesian_trajectory_planner_B.b_kstr_h |
| 2194 | + 4]; |
| 2195 | T[cartesian_trajectory_planner_B.a_tmp] += |
| 2196 | cartesian_trajectory_planner_B.b[cartesian_trajectory_planner_B.a_tmp_tmp |
| 2197 | + 2] * |
| 2198 | cartesian_trajectory_planner_B.a_j[cartesian_trajectory_planner_B.b_kstr_h |
| 2199 | + 8]; |
| 2200 | T[cartesian_trajectory_planner_B.a_tmp] += |
| 2201 | cartesian_trajectory_planner_B.b[cartesian_trajectory_planner_B.a_tmp_tmp |
| 2202 | + 3] * |
| 2203 | cartesian_trajectory_planner_B.a_j[cartesian_trajectory_planner_B.b_kstr_h |
| 2204 | + 12]; |
| 2205 | } |
| 2206 | } |
| 2207 | } |
| 2208 | |
| 2209 | static void rigidBodyJoint_transformBodyToP(const |
| 2210 | c_rigidBodyJoint_cartesian__a_T *obj, real_T T[16]) |
| 2211 | { |
| 2212 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 2213 | static const char_T tmp[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 2214 | |
| 2215 | static const char_T tmp_0[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 2216 | |
| 2217 | int32_T exitg1; |
| 2218 | cartesian_trajec_emxInit_char_T(&switch_expression, 2); |
| 2219 | cartesian_trajectory_planner_B.b_kstr_l = switch_expression->size[0] * |
| 2220 | switch_expression->size[1]; |
| 2221 | switch_expression->size[0] = 1; |
| 2222 | switch_expression->size[1] = obj->Type->size[1]; |
| 2223 | cartes_emxEnsureCapacity_char_T(switch_expression, |
| 2224 | cartesian_trajectory_planner_B.b_kstr_l); |
| 2225 | cartesian_trajectory_planner_B.loop_ub_m = obj->Type->size[0] * obj-> |
| 2226 | Type->size[1] - 1; |
| 2227 | for (cartesian_trajectory_planner_B.b_kstr_l = 0; |
| 2228 | cartesian_trajectory_planner_B.b_kstr_l <= |
| 2229 | cartesian_trajectory_planner_B.loop_ub_m; |
| 2230 | cartesian_trajectory_planner_B.b_kstr_l++) { |
| 2231 | switch_expression->data[cartesian_trajectory_planner_B.b_kstr_l] = obj-> |
| 2232 | Type->data[cartesian_trajectory_planner_B.b_kstr_l]; |
| 2233 | } |
| 2234 | |
| 2235 | for (cartesian_trajectory_planner_B.b_kstr_l = 0; |
| 2236 | cartesian_trajectory_planner_B.b_kstr_l < 5; |
| 2237 | cartesian_trajectory_planner_B.b_kstr_l++) { |
| 2238 | cartesian_trajectory_planner_B.b_f1s[cartesian_trajectory_planner_B.b_kstr_l] |
| 2239 | = tmp[cartesian_trajectory_planner_B.b_kstr_l]; |
| 2240 | } |
| 2241 | |
| 2242 | cartesian_trajectory_planner_B.b_bool_j = false; |
| 2243 | if (switch_expression->size[1] == 5) { |
| 2244 | cartesian_trajectory_planner_B.b_kstr_l = 1; |
| 2245 | do { |
| 2246 | exitg1 = 0; |
| 2247 | if (cartesian_trajectory_planner_B.b_kstr_l - 1 < 5) { |
| 2248 | cartesian_trajectory_planner_B.loop_ub_m = |
| 2249 | cartesian_trajectory_planner_B.b_kstr_l - 1; |
| 2250 | if (switch_expression->data[cartesian_trajectory_planner_B.loop_ub_m] != |
| 2251 | cartesian_trajectory_planner_B.b_f1s[cartesian_trajectory_planner_B.loop_ub_m]) |
| 2252 | { |
| 2253 | exitg1 = 1; |
| 2254 | } else { |
| 2255 | cartesian_trajectory_planner_B.b_kstr_l++; |
| 2256 | } |
| 2257 | } else { |
| 2258 | cartesian_trajectory_planner_B.b_bool_j = true; |
| 2259 | exitg1 = 1; |
| 2260 | } |
| 2261 | } while (exitg1 == 0); |
| 2262 | } |
| 2263 | |
| 2264 | if (cartesian_trajectory_planner_B.b_bool_j) { |
| 2265 | cartesian_trajectory_planner_B.b_kstr_l = 0; |
| 2266 | } else { |
| 2267 | for (cartesian_trajectory_planner_B.b_kstr_l = 0; |
| 2268 | cartesian_trajectory_planner_B.b_kstr_l < 8; |
| 2269 | cartesian_trajectory_planner_B.b_kstr_l++) { |
| 2270 | cartesian_trajectory_planner_B.b_p[cartesian_trajectory_planner_B.b_kstr_l] |
| 2271 | = tmp_0[cartesian_trajectory_planner_B.b_kstr_l]; |
| 2272 | } |
| 2273 | |
| 2274 | cartesian_trajectory_planner_B.b_bool_j = false; |
| 2275 | if (switch_expression->size[1] == 8) { |
| 2276 | cartesian_trajectory_planner_B.b_kstr_l = 1; |
| 2277 | do { |
| 2278 | exitg1 = 0; |
| 2279 | if (cartesian_trajectory_planner_B.b_kstr_l - 1 < 8) { |
| 2280 | cartesian_trajectory_planner_B.loop_ub_m = |
| 2281 | cartesian_trajectory_planner_B.b_kstr_l - 1; |
| 2282 | if (switch_expression->data[cartesian_trajectory_planner_B.loop_ub_m] |
| 2283 | != |
| 2284 | cartesian_trajectory_planner_B.b_p[cartesian_trajectory_planner_B.loop_ub_m]) |
| 2285 | { |
| 2286 | exitg1 = 1; |
| 2287 | } else { |
| 2288 | cartesian_trajectory_planner_B.b_kstr_l++; |
| 2289 | } |
| 2290 | } else { |
| 2291 | cartesian_trajectory_planner_B.b_bool_j = true; |
| 2292 | exitg1 = 1; |
| 2293 | } |
| 2294 | } while (exitg1 == 0); |
| 2295 | } |
| 2296 | |
| 2297 | if (cartesian_trajectory_planner_B.b_bool_j) { |
| 2298 | cartesian_trajectory_planner_B.b_kstr_l = 1; |
| 2299 | } else { |
| 2300 | cartesian_trajectory_planner_B.b_kstr_l = -1; |
| 2301 | } |
| 2302 | } |
| 2303 | |
| 2304 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 2305 | switch (cartesian_trajectory_planner_B.b_kstr_l) { |
| 2306 | case 0: |
| 2307 | memset(&cartesian_trajectory_planner_B.TJ_d[0], 0, sizeof(real_T) << 4U); |
| 2308 | cartesian_trajectory_planner_B.TJ_d[0] = 1.0; |
| 2309 | cartesian_trajectory_planner_B.TJ_d[5] = 1.0; |
| 2310 | cartesian_trajectory_planner_B.TJ_d[10] = 1.0; |
| 2311 | cartesian_trajectory_planner_B.TJ_d[15] = 1.0; |
| 2312 | break; |
| 2313 | |
| 2314 | case 1: |
| 2315 | rigidBodyJoint_get_JointAxis_a(obj, cartesian_trajectory_planner_B.v_c); |
| 2316 | cartesian_trajectory_planner_B.axang_idx_0 = |
| 2317 | cartesian_trajectory_planner_B.v_c[0]; |
| 2318 | cartesian_trajectory_planner_B.axang_idx_1 = |
| 2319 | cartesian_trajectory_planner_B.v_c[1]; |
| 2320 | cartesian_trajectory_planner_B.axang_idx_2 = |
| 2321 | cartesian_trajectory_planner_B.v_c[2]; |
| 2322 | cartesian_trajectory_planner_B.b_j = 1.0 / sqrt |
| 2323 | ((cartesian_trajectory_planner_B.axang_idx_0 * |
| 2324 | cartesian_trajectory_planner_B.axang_idx_0 + |
| 2325 | cartesian_trajectory_planner_B.axang_idx_1 * |
| 2326 | cartesian_trajectory_planner_B.axang_idx_1) + |
| 2327 | cartesian_trajectory_planner_B.axang_idx_2 * |
| 2328 | cartesian_trajectory_planner_B.axang_idx_2); |
| 2329 | cartesian_trajectory_planner_B.v_c[0] = |
| 2330 | cartesian_trajectory_planner_B.axang_idx_0 * |
| 2331 | cartesian_trajectory_planner_B.b_j; |
| 2332 | cartesian_trajectory_planner_B.v_c[1] = |
| 2333 | cartesian_trajectory_planner_B.axang_idx_1 * |
| 2334 | cartesian_trajectory_planner_B.b_j; |
| 2335 | cartesian_trajectory_planner_B.v_c[2] = |
| 2336 | cartesian_trajectory_planner_B.axang_idx_2 * |
| 2337 | cartesian_trajectory_planner_B.b_j; |
| 2338 | cartesian_trajectory_planner_B.axang_idx_0 = |
| 2339 | cartesian_trajectory_planner_B.v_c[1] * |
| 2340 | cartesian_trajectory_planner_B.v_c[0] * 0.0; |
| 2341 | cartesian_trajectory_planner_B.axang_idx_1 = |
| 2342 | cartesian_trajectory_planner_B.v_c[2] * |
| 2343 | cartesian_trajectory_planner_B.v_c[0] * 0.0; |
| 2344 | cartesian_trajectory_planner_B.axang_idx_2 = |
| 2345 | cartesian_trajectory_planner_B.v_c[2] * |
| 2346 | cartesian_trajectory_planner_B.v_c[1] * 0.0; |
| 2347 | cartesian_trajectory_planne_cat(cartesian_trajectory_planner_B.v_c[0] * |
| 2348 | cartesian_trajectory_planner_B.v_c[0] * 0.0 + 1.0, |
| 2349 | cartesian_trajectory_planner_B.axang_idx_0 - |
| 2350 | cartesian_trajectory_planner_B.v_c[2] * 0.0, |
| 2351 | cartesian_trajectory_planner_B.axang_idx_1 + |
| 2352 | cartesian_trajectory_planner_B.v_c[1] * 0.0, |
| 2353 | cartesian_trajectory_planner_B.axang_idx_0 + |
| 2354 | cartesian_trajectory_planner_B.v_c[2] * 0.0, |
| 2355 | cartesian_trajectory_planner_B.v_c[1] * |
| 2356 | cartesian_trajectory_planner_B.v_c[1] * 0.0 + 1.0, |
| 2357 | cartesian_trajectory_planner_B.axang_idx_2 - |
| 2358 | cartesian_trajectory_planner_B.v_c[0] * 0.0, |
| 2359 | cartesian_trajectory_planner_B.axang_idx_1 - |
| 2360 | cartesian_trajectory_planner_B.v_c[1] * 0.0, |
| 2361 | cartesian_trajectory_planner_B.axang_idx_2 + |
| 2362 | cartesian_trajectory_planner_B.v_c[0] * 0.0, |
| 2363 | cartesian_trajectory_planner_B.v_c[2] * |
| 2364 | cartesian_trajectory_planner_B.v_c[2] * 0.0 + 1.0, |
| 2365 | cartesian_trajectory_planner_B.tempR_c); |
| 2366 | for (cartesian_trajectory_planner_B.b_kstr_l = 0; |
| 2367 | cartesian_trajectory_planner_B.b_kstr_l < 3; |
| 2368 | cartesian_trajectory_planner_B.b_kstr_l++) { |
| 2369 | cartesian_trajectory_planner_B.loop_ub_m = |
| 2370 | cartesian_trajectory_planner_B.b_kstr_l + 1; |
| 2371 | cartesian_trajectory_planner_B.R_g[cartesian_trajectory_planner_B.loop_ub_m |
| 2372 | - 1] = cartesian_trajectory_planner_B.tempR_c |
| 2373 | [(cartesian_trajectory_planner_B.loop_ub_m - 1) * 3]; |
| 2374 | cartesian_trajectory_planner_B.loop_ub_m = |
| 2375 | cartesian_trajectory_planner_B.b_kstr_l + 1; |
| 2376 | cartesian_trajectory_planner_B.R_g[cartesian_trajectory_planner_B.loop_ub_m |
| 2377 | + 2] = cartesian_trajectory_planner_B.tempR_c |
| 2378 | [(cartesian_trajectory_planner_B.loop_ub_m - 1) * 3 + 1]; |
| 2379 | cartesian_trajectory_planner_B.loop_ub_m = |
| 2380 | cartesian_trajectory_planner_B.b_kstr_l + 1; |
| 2381 | cartesian_trajectory_planner_B.R_g[cartesian_trajectory_planner_B.loop_ub_m |
| 2382 | + 5] = cartesian_trajectory_planner_B.tempR_c |
| 2383 | [(cartesian_trajectory_planner_B.loop_ub_m - 1) * 3 + 2]; |
| 2384 | } |
| 2385 | |
| 2386 | memset(&cartesian_trajectory_planner_B.TJ_d[0], 0, sizeof(real_T) << 4U); |
| 2387 | for (cartesian_trajectory_planner_B.b_kstr_l = 0; |
| 2388 | cartesian_trajectory_planner_B.b_kstr_l < 3; |
| 2389 | cartesian_trajectory_planner_B.b_kstr_l++) { |
| 2390 | cartesian_trajectory_planner_B.loop_ub_m = |
| 2391 | cartesian_trajectory_planner_B.b_kstr_l << 2; |
| 2392 | cartesian_trajectory_planner_B.TJ_d[cartesian_trajectory_planner_B.loop_ub_m] |
| 2393 | = cartesian_trajectory_planner_B.R_g[3 * |
| 2394 | cartesian_trajectory_planner_B.b_kstr_l]; |
| 2395 | cartesian_trajectory_planner_B.TJ_d[cartesian_trajectory_planner_B.loop_ub_m |
| 2396 | + 1] = cartesian_trajectory_planner_B.R_g[3 * |
| 2397 | cartesian_trajectory_planner_B.b_kstr_l + 1]; |
| 2398 | cartesian_trajectory_planner_B.TJ_d[cartesian_trajectory_planner_B.loop_ub_m |
| 2399 | + 2] = cartesian_trajectory_planner_B.R_g[3 * |
| 2400 | cartesian_trajectory_planner_B.b_kstr_l + 2]; |
| 2401 | } |
| 2402 | |
| 2403 | cartesian_trajectory_planner_B.TJ_d[15] = 1.0; |
| 2404 | break; |
| 2405 | |
| 2406 | default: |
| 2407 | rigidBodyJoint_get_JointAxis_a(obj, cartesian_trajectory_planner_B.v_c); |
| 2408 | memset(&cartesian_trajectory_planner_B.tempR_c[0], 0, 9U * sizeof(real_T)); |
| 2409 | cartesian_trajectory_planner_B.tempR_c[0] = 1.0; |
| 2410 | cartesian_trajectory_planner_B.tempR_c[4] = 1.0; |
| 2411 | cartesian_trajectory_planner_B.tempR_c[8] = 1.0; |
| 2412 | for (cartesian_trajectory_planner_B.b_kstr_l = 0; |
| 2413 | cartesian_trajectory_planner_B.b_kstr_l < 3; |
| 2414 | cartesian_trajectory_planner_B.b_kstr_l++) { |
| 2415 | cartesian_trajectory_planner_B.loop_ub_m = |
| 2416 | cartesian_trajectory_planner_B.b_kstr_l << 2; |
| 2417 | cartesian_trajectory_planner_B.TJ_d[cartesian_trajectory_planner_B.loop_ub_m] |
| 2418 | = cartesian_trajectory_planner_B.tempR_c[3 * |
| 2419 | cartesian_trajectory_planner_B.b_kstr_l]; |
| 2420 | cartesian_trajectory_planner_B.TJ_d[cartesian_trajectory_planner_B.loop_ub_m |
| 2421 | + 1] = cartesian_trajectory_planner_B.tempR_c[3 * |
| 2422 | cartesian_trajectory_planner_B.b_kstr_l + 1]; |
| 2423 | cartesian_trajectory_planner_B.TJ_d[cartesian_trajectory_planner_B.loop_ub_m |
| 2424 | + 2] = cartesian_trajectory_planner_B.tempR_c[3 * |
| 2425 | cartesian_trajectory_planner_B.b_kstr_l + 2]; |
| 2426 | cartesian_trajectory_planner_B.TJ_d[cartesian_trajectory_planner_B.b_kstr_l |
| 2427 | + 12] = |
| 2428 | cartesian_trajectory_planner_B.v_c[cartesian_trajectory_planner_B.b_kstr_l] |
| 2429 | * 0.0; |
| 2430 | } |
| 2431 | |
| 2432 | cartesian_trajectory_planner_B.TJ_d[3] = 0.0; |
| 2433 | cartesian_trajectory_planner_B.TJ_d[7] = 0.0; |
| 2434 | cartesian_trajectory_planner_B.TJ_d[11] = 0.0; |
| 2435 | cartesian_trajectory_planner_B.TJ_d[15] = 1.0; |
| 2436 | break; |
| 2437 | } |
| 2438 | |
| 2439 | for (cartesian_trajectory_planner_B.b_kstr_l = 0; |
| 2440 | cartesian_trajectory_planner_B.b_kstr_l < 16; |
| 2441 | cartesian_trajectory_planner_B.b_kstr_l++) { |
| 2442 | cartesian_trajectory_planner_B.a_g[cartesian_trajectory_planner_B.b_kstr_l] = |
| 2443 | obj->JointToParentTransform[cartesian_trajectory_planner_B.b_kstr_l]; |
| 2444 | } |
| 2445 | |
| 2446 | for (cartesian_trajectory_planner_B.b_kstr_l = 0; |
| 2447 | cartesian_trajectory_planner_B.b_kstr_l < 16; |
| 2448 | cartesian_trajectory_planner_B.b_kstr_l++) { |
| 2449 | cartesian_trajectory_planner_B.b_l[cartesian_trajectory_planner_B.b_kstr_l] = |
| 2450 | obj->ChildToJointTransform[cartesian_trajectory_planner_B.b_kstr_l]; |
| 2451 | } |
| 2452 | |
| 2453 | for (cartesian_trajectory_planner_B.b_kstr_l = 0; |
| 2454 | cartesian_trajectory_planner_B.b_kstr_l < 4; |
| 2455 | cartesian_trajectory_planner_B.b_kstr_l++) { |
| 2456 | for (cartesian_trajectory_planner_B.loop_ub_m = 0; |
| 2457 | cartesian_trajectory_planner_B.loop_ub_m < 4; |
| 2458 | cartesian_trajectory_planner_B.loop_ub_m++) { |
| 2459 | cartesian_trajectory_planner_B.a_tmp_tmp_g = |
| 2460 | cartesian_trajectory_planner_B.loop_ub_m << 2; |
| 2461 | cartesian_trajectory_planner_B.a_tmp_n = |
| 2462 | cartesian_trajectory_planner_B.b_kstr_l + |
| 2463 | cartesian_trajectory_planner_B.a_tmp_tmp_g; |
| 2464 | cartesian_trajectory_planner_B.a_d[cartesian_trajectory_planner_B.a_tmp_n] |
| 2465 | = 0.0; |
| 2466 | cartesian_trajectory_planner_B.a_d[cartesian_trajectory_planner_B.a_tmp_n] |
| 2467 | += |
| 2468 | cartesian_trajectory_planner_B.TJ_d[cartesian_trajectory_planner_B.a_tmp_tmp_g] |
| 2469 | * cartesian_trajectory_planner_B.a_g[cartesian_trajectory_planner_B.b_kstr_l]; |
| 2470 | cartesian_trajectory_planner_B.a_d[cartesian_trajectory_planner_B.a_tmp_n] |
| 2471 | += |
| 2472 | cartesian_trajectory_planner_B.TJ_d[cartesian_trajectory_planner_B.a_tmp_tmp_g |
| 2473 | + 1] * |
| 2474 | cartesian_trajectory_planner_B.a_g[cartesian_trajectory_planner_B.b_kstr_l |
| 2475 | + 4]; |
| 2476 | cartesian_trajectory_planner_B.a_d[cartesian_trajectory_planner_B.a_tmp_n] |
| 2477 | += |
| 2478 | cartesian_trajectory_planner_B.TJ_d[cartesian_trajectory_planner_B.a_tmp_tmp_g |
| 2479 | + 2] * |
| 2480 | cartesian_trajectory_planner_B.a_g[cartesian_trajectory_planner_B.b_kstr_l |
| 2481 | + 8]; |
| 2482 | cartesian_trajectory_planner_B.a_d[cartesian_trajectory_planner_B.a_tmp_n] |
| 2483 | += |
| 2484 | cartesian_trajectory_planner_B.TJ_d[cartesian_trajectory_planner_B.a_tmp_tmp_g |
| 2485 | + 3] * |
| 2486 | cartesian_trajectory_planner_B.a_g[cartesian_trajectory_planner_B.b_kstr_l |
| 2487 | + 12]; |
| 2488 | } |
| 2489 | |
| 2490 | for (cartesian_trajectory_planner_B.loop_ub_m = 0; |
| 2491 | cartesian_trajectory_planner_B.loop_ub_m < 4; |
| 2492 | cartesian_trajectory_planner_B.loop_ub_m++) { |
| 2493 | cartesian_trajectory_planner_B.a_tmp_tmp_g = |
| 2494 | cartesian_trajectory_planner_B.loop_ub_m << 2; |
| 2495 | cartesian_trajectory_planner_B.a_tmp_n = |
| 2496 | cartesian_trajectory_planner_B.b_kstr_l + |
| 2497 | cartesian_trajectory_planner_B.a_tmp_tmp_g; |
| 2498 | T[cartesian_trajectory_planner_B.a_tmp_n] = 0.0; |
| 2499 | T[cartesian_trajectory_planner_B.a_tmp_n] += |
| 2500 | cartesian_trajectory_planner_B.b_l[cartesian_trajectory_planner_B.a_tmp_tmp_g] |
| 2501 | * cartesian_trajectory_planner_B.a_d[cartesian_trajectory_planner_B.b_kstr_l]; |
| 2502 | T[cartesian_trajectory_planner_B.a_tmp_n] += |
| 2503 | cartesian_trajectory_planner_B.b_l[cartesian_trajectory_planner_B.a_tmp_tmp_g |
| 2504 | + 1] * |
| 2505 | cartesian_trajectory_planner_B.a_d[cartesian_trajectory_planner_B.b_kstr_l |
| 2506 | + 4]; |
| 2507 | T[cartesian_trajectory_planner_B.a_tmp_n] += |
| 2508 | cartesian_trajectory_planner_B.b_l[cartesian_trajectory_planner_B.a_tmp_tmp_g |
| 2509 | + 2] * |
| 2510 | cartesian_trajectory_planner_B.a_d[cartesian_trajectory_planner_B.b_kstr_l |
| 2511 | + 8]; |
| 2512 | T[cartesian_trajectory_planner_B.a_tmp_n] += |
| 2513 | cartesian_trajectory_planner_B.b_l[cartesian_trajectory_planner_B.a_tmp_tmp_g |
| 2514 | + 3] * |
| 2515 | cartesian_trajectory_planner_B.a_d[cartesian_trajectory_planner_B.b_kstr_l |
| 2516 | + 12]; |
| 2517 | } |
| 2518 | } |
| 2519 | } |
| 2520 | |
| 2521 | static void RigidBodyTree_efficientFKAndJac(x_robotics_manip_internal_Rig_T *obj, |
| 2522 | const real_T qv[6], const emxArray_char_T_cartesian_tra_T *body1Name, real_T |
| 2523 | T_data[], int32_T T_size[2], emxArray_real_T_cartesian_tra_T *Jac) |
| 2524 | { |
| 2525 | w_robotics_manip_internal_Rig_T *body1; |
| 2526 | w_robotics_manip_internal_Rig_T *body2; |
| 2527 | emxArray_real_T_cartesian_tra_T *kinematicPathIndices; |
| 2528 | c_rigidBodyJoint_cartesian__a_T *joint; |
| 2529 | emxArray_char_T_cartesian_tra_T *body2Name; |
| 2530 | emxArray_real_T_cartesian_tra_T *ancestorIndices1; |
| 2531 | emxArray_real_T_cartesian_tra_T *ancestorIndices2; |
| 2532 | emxArray_real_T_cartesian_tra_T *y; |
| 2533 | emxArray_real_T_cartesian_tra_T *b; |
| 2534 | w_robotics_manip_internal_Rig_T *body; |
| 2535 | emxArray_char_T_cartesian_tra_T *bname; |
| 2536 | emxArray_real_T_cartesian_tra_T *ancestorIndices1_0; |
| 2537 | emxArray_real_T_cartesian_tra_T *ancestorIndices2_0; |
| 2538 | static const char_T tmp[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 2539 | |
| 2540 | boolean_T exitg1; |
| 2541 | int32_T exitg2; |
| 2542 | cartesian_trajec_emxInit_char_T(&body2Name, 2); |
| 2543 | cartesian_trajectory_planner_B.b_kstr = body2Name->size[0] * body2Name->size[1]; |
| 2544 | body2Name->size[0] = 1; |
| 2545 | body2Name->size[1] = obj->Base.NameInternal->size[1]; |
| 2546 | cartes_emxEnsureCapacity_char_T(body2Name, |
| 2547 | cartesian_trajectory_planner_B.b_kstr); |
| 2548 | cartesian_trajectory_planner_B.loop_ub_n = obj->Base.NameInternal->size[0] * |
| 2549 | obj->Base.NameInternal->size[1] - 1; |
| 2550 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 2551 | cartesian_trajectory_planner_B.b_kstr <= |
| 2552 | cartesian_trajectory_planner_B.loop_ub_n; |
| 2553 | cartesian_trajectory_planner_B.b_kstr++) { |
| 2554 | body2Name->data[cartesian_trajectory_planner_B.b_kstr] = |
| 2555 | obj->Base.NameInternal->data[cartesian_trajectory_planner_B.b_kstr]; |
| 2556 | } |
| 2557 | |
| 2558 | cartesian_trajec_emxInit_char_T(&bname, 2); |
| 2559 | cartesian_trajectory_planner_B.bid1 = -1.0; |
| 2560 | cartesian_trajectory_planner_B.b_kstr = bname->size[0] * bname->size[1]; |
| 2561 | bname->size[0] = 1; |
| 2562 | bname->size[1] = obj->Base.NameInternal->size[1]; |
| 2563 | cartes_emxEnsureCapacity_char_T(bname, cartesian_trajectory_planner_B.b_kstr); |
| 2564 | cartesian_trajectory_planner_B.loop_ub_n = obj->Base.NameInternal->size[0] * |
| 2565 | obj->Base.NameInternal->size[1] - 1; |
| 2566 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 2567 | cartesian_trajectory_planner_B.b_kstr <= |
| 2568 | cartesian_trajectory_planner_B.loop_ub_n; |
| 2569 | cartesian_trajectory_planner_B.b_kstr++) { |
| 2570 | bname->data[cartesian_trajectory_planner_B.b_kstr] = obj-> |
| 2571 | Base.NameInternal->data[cartesian_trajectory_planner_B.b_kstr]; |
| 2572 | } |
| 2573 | |
| 2574 | if (cartesian_trajectory_pla_strcmp(bname, body1Name)) { |
| 2575 | cartesian_trajectory_planner_B.bid1 = 0.0; |
| 2576 | } else { |
| 2577 | cartesian_trajectory_planner_B.qidx_idx_1 = obj->NumBodies; |
| 2578 | cartesian_trajectory_planner_B.b_i_f = 0; |
| 2579 | exitg1 = false; |
| 2580 | while ((!exitg1) && (cartesian_trajectory_planner_B.b_i_f <= |
| 2581 | static_cast<int32_T> |
| 2582 | (cartesian_trajectory_planner_B.qidx_idx_1) - 1)) { |
| 2583 | body1 = obj->Bodies[cartesian_trajectory_planner_B.b_i_f]; |
| 2584 | cartesian_trajectory_planner_B.b_kstr = bname->size[0] * bname->size[1]; |
| 2585 | bname->size[0] = 1; |
| 2586 | bname->size[1] = body1->NameInternal->size[1]; |
| 2587 | cartes_emxEnsureCapacity_char_T(bname, |
| 2588 | cartesian_trajectory_planner_B.b_kstr); |
| 2589 | cartesian_trajectory_planner_B.loop_ub_n = body1->NameInternal->size[0] * |
| 2590 | body1->NameInternal->size[1] - 1; |
| 2591 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 2592 | cartesian_trajectory_planner_B.b_kstr <= |
| 2593 | cartesian_trajectory_planner_B.loop_ub_n; |
| 2594 | cartesian_trajectory_planner_B.b_kstr++) { |
| 2595 | bname->data[cartesian_trajectory_planner_B.b_kstr] = body1-> |
| 2596 | NameInternal->data[cartesian_trajectory_planner_B.b_kstr]; |
| 2597 | } |
| 2598 | |
| 2599 | if (cartesian_trajectory_pla_strcmp(bname, body1Name)) { |
| 2600 | cartesian_trajectory_planner_B.bid1 = static_cast<real_T> |
| 2601 | (cartesian_trajectory_planner_B.b_i_f) + 1.0; |
| 2602 | exitg1 = true; |
| 2603 | } else { |
| 2604 | cartesian_trajectory_planner_B.b_i_f++; |
| 2605 | } |
| 2606 | } |
| 2607 | } |
| 2608 | |
| 2609 | cartesian_trajectory_planner_B.bid2 = -1.0; |
| 2610 | cartesian_trajectory_planner_B.b_kstr = bname->size[0] * bname->size[1]; |
| 2611 | bname->size[0] = 1; |
| 2612 | bname->size[1] = obj->Base.NameInternal->size[1]; |
| 2613 | cartes_emxEnsureCapacity_char_T(bname, cartesian_trajectory_planner_B.b_kstr); |
| 2614 | cartesian_trajectory_planner_B.loop_ub_n = obj->Base.NameInternal->size[0] * |
| 2615 | obj->Base.NameInternal->size[1] - 1; |
| 2616 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 2617 | cartesian_trajectory_planner_B.b_kstr <= |
| 2618 | cartesian_trajectory_planner_B.loop_ub_n; |
| 2619 | cartesian_trajectory_planner_B.b_kstr++) { |
| 2620 | bname->data[cartesian_trajectory_planner_B.b_kstr] = obj-> |
| 2621 | Base.NameInternal->data[cartesian_trajectory_planner_B.b_kstr]; |
| 2622 | } |
| 2623 | |
| 2624 | if (cartesian_trajectory_pla_strcmp(bname, body2Name)) { |
| 2625 | cartesian_trajectory_planner_B.bid2 = 0.0; |
| 2626 | } else { |
| 2627 | cartesian_trajectory_planner_B.qidx_idx_1 = obj->NumBodies; |
| 2628 | cartesian_trajectory_planner_B.b_i_f = 0; |
| 2629 | exitg1 = false; |
| 2630 | while ((!exitg1) && (cartesian_trajectory_planner_B.b_i_f <= |
| 2631 | static_cast<int32_T> |
| 2632 | (cartesian_trajectory_planner_B.qidx_idx_1) - 1)) { |
| 2633 | body1 = obj->Bodies[cartesian_trajectory_planner_B.b_i_f]; |
| 2634 | cartesian_trajectory_planner_B.b_kstr = bname->size[0] * bname->size[1]; |
| 2635 | bname->size[0] = 1; |
| 2636 | bname->size[1] = body1->NameInternal->size[1]; |
| 2637 | cartes_emxEnsureCapacity_char_T(bname, |
| 2638 | cartesian_trajectory_planner_B.b_kstr); |
| 2639 | cartesian_trajectory_planner_B.loop_ub_n = body1->NameInternal->size[0] * |
| 2640 | body1->NameInternal->size[1] - 1; |
| 2641 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 2642 | cartesian_trajectory_planner_B.b_kstr <= |
| 2643 | cartesian_trajectory_planner_B.loop_ub_n; |
| 2644 | cartesian_trajectory_planner_B.b_kstr++) { |
| 2645 | bname->data[cartesian_trajectory_planner_B.b_kstr] = body1-> |
| 2646 | NameInternal->data[cartesian_trajectory_planner_B.b_kstr]; |
| 2647 | } |
| 2648 | |
| 2649 | if (cartesian_trajectory_pla_strcmp(bname, body2Name)) { |
| 2650 | cartesian_trajectory_planner_B.bid2 = static_cast<real_T> |
| 2651 | (cartesian_trajectory_planner_B.b_i_f) + 1.0; |
| 2652 | exitg1 = true; |
| 2653 | } else { |
| 2654 | cartesian_trajectory_planner_B.b_i_f++; |
| 2655 | } |
| 2656 | } |
| 2657 | } |
| 2658 | |
| 2659 | cartesian_trajec_emxFree_char_T(&bname); |
| 2660 | if (cartesian_trajectory_planner_B.bid1 == 0.0) { |
| 2661 | body1 = &obj->Base; |
| 2662 | } else { |
| 2663 | body1 = obj->Bodies[static_cast<int32_T>(cartesian_trajectory_planner_B.bid1) |
| 2664 | - 1]; |
| 2665 | } |
| 2666 | |
| 2667 | if (cartesian_trajectory_planner_B.bid2 == 0.0) { |
| 2668 | body2 = &obj->Base; |
| 2669 | } else { |
| 2670 | body2 = obj->Bodies[static_cast<int32_T>(cartesian_trajectory_planner_B.bid2) |
| 2671 | - 1]; |
| 2672 | } |
| 2673 | |
| 2674 | cartesian_trajec_emxInit_real_T(&ancestorIndices1, 2); |
| 2675 | body = body1; |
| 2676 | cartesian_trajectory_planner_B.b_kstr = ancestorIndices1->size[0] * |
| 2677 | ancestorIndices1->size[1]; |
| 2678 | ancestorIndices1->size[0] = 1; |
| 2679 | ancestorIndices1->size[1] = static_cast<int32_T>(obj->NumBodies + 1.0); |
| 2680 | cartes_emxEnsureCapacity_real_T(ancestorIndices1, |
| 2681 | cartesian_trajectory_planner_B.b_kstr); |
| 2682 | cartesian_trajectory_planner_B.loop_ub_n = static_cast<int32_T>(obj->NumBodies |
| 2683 | + 1.0) - 1; |
| 2684 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 2685 | cartesian_trajectory_planner_B.b_kstr <= |
| 2686 | cartesian_trajectory_planner_B.loop_ub_n; |
| 2687 | cartesian_trajectory_planner_B.b_kstr++) { |
| 2688 | ancestorIndices1->data[cartesian_trajectory_planner_B.b_kstr] = 0.0; |
| 2689 | } |
| 2690 | |
| 2691 | cartesian_trajectory_planner_B.bid1 = 2.0; |
| 2692 | ancestorIndices1->data[0] = body1->Index; |
| 2693 | while (body->ParentIndex > 0.0) { |
| 2694 | body = obj->Bodies[static_cast<int32_T>(body->ParentIndex) - 1]; |
| 2695 | ancestorIndices1->data[static_cast<int32_T> |
| 2696 | (cartesian_trajectory_planner_B.bid1) - 1] = body->Index; |
| 2697 | cartesian_trajectory_planner_B.bid1++; |
| 2698 | } |
| 2699 | |
| 2700 | if (body->Index > 0.0) { |
| 2701 | ancestorIndices1->data[static_cast<int32_T> |
| 2702 | (cartesian_trajectory_planner_B.bid1) - 1] = body->ParentIndex; |
| 2703 | cartesian_trajectory_planner_B.bid1++; |
| 2704 | } |
| 2705 | |
| 2706 | cartesian_trajec_emxInit_real_T(&ancestorIndices1_0, 2); |
| 2707 | cartesian_trajectory_planner_B.loop_ub_n = static_cast<int32_T> |
| 2708 | (cartesian_trajectory_planner_B.bid1 - 1.0); |
| 2709 | cartesian_trajectory_planner_B.b_kstr = ancestorIndices1_0->size[0] * |
| 2710 | ancestorIndices1_0->size[1]; |
| 2711 | ancestorIndices1_0->size[0] = 1; |
| 2712 | ancestorIndices1_0->size[1] = cartesian_trajectory_planner_B.loop_ub_n; |
| 2713 | cartes_emxEnsureCapacity_real_T(ancestorIndices1_0, |
| 2714 | cartesian_trajectory_planner_B.b_kstr); |
| 2715 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 2716 | cartesian_trajectory_planner_B.b_kstr < |
| 2717 | cartesian_trajectory_planner_B.loop_ub_n; |
| 2718 | cartesian_trajectory_planner_B.b_kstr++) { |
| 2719 | ancestorIndices1_0->data[cartesian_trajectory_planner_B.b_kstr] = |
| 2720 | ancestorIndices1->data[cartesian_trajectory_planner_B.b_kstr]; |
| 2721 | } |
| 2722 | |
| 2723 | cartesian_trajectory_planner_B.b_kstr = ancestorIndices1->size[0] * |
| 2724 | ancestorIndices1->size[1]; |
| 2725 | ancestorIndices1->size[0] = 1; |
| 2726 | ancestorIndices1->size[1] = ancestorIndices1_0->size[1]; |
| 2727 | cartes_emxEnsureCapacity_real_T(ancestorIndices1, |
| 2728 | cartesian_trajectory_planner_B.b_kstr); |
| 2729 | cartesian_trajectory_planner_B.loop_ub_n = ancestorIndices1_0->size[0] * |
| 2730 | ancestorIndices1_0->size[1]; |
| 2731 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 2732 | cartesian_trajectory_planner_B.b_kstr < |
| 2733 | cartesian_trajectory_planner_B.loop_ub_n; |
| 2734 | cartesian_trajectory_planner_B.b_kstr++) { |
| 2735 | ancestorIndices1->data[cartesian_trajectory_planner_B.b_kstr] = |
| 2736 | ancestorIndices1_0->data[cartesian_trajectory_planner_B.b_kstr]; |
| 2737 | } |
| 2738 | |
| 2739 | cartesian_trajec_emxFree_real_T(&ancestorIndices1_0); |
| 2740 | cartesian_trajec_emxInit_real_T(&ancestorIndices2, 2); |
| 2741 | body = body2; |
| 2742 | cartesian_trajectory_planner_B.b_kstr = ancestorIndices2->size[0] * |
| 2743 | ancestorIndices2->size[1]; |
| 2744 | ancestorIndices2->size[0] = 1; |
| 2745 | ancestorIndices2->size[1] = static_cast<int32_T>(obj->NumBodies + 1.0); |
| 2746 | cartes_emxEnsureCapacity_real_T(ancestorIndices2, |
| 2747 | cartesian_trajectory_planner_B.b_kstr); |
| 2748 | cartesian_trajectory_planner_B.loop_ub_n = static_cast<int32_T>(obj->NumBodies |
| 2749 | + 1.0) - 1; |
| 2750 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 2751 | cartesian_trajectory_planner_B.b_kstr <= |
| 2752 | cartesian_trajectory_planner_B.loop_ub_n; |
| 2753 | cartesian_trajectory_planner_B.b_kstr++) { |
| 2754 | ancestorIndices2->data[cartesian_trajectory_planner_B.b_kstr] = 0.0; |
| 2755 | } |
| 2756 | |
| 2757 | cartesian_trajectory_planner_B.bid1 = 2.0; |
| 2758 | ancestorIndices2->data[0] = body2->Index; |
| 2759 | while (body->ParentIndex > 0.0) { |
| 2760 | body = obj->Bodies[static_cast<int32_T>(body->ParentIndex) - 1]; |
| 2761 | ancestorIndices2->data[static_cast<int32_T> |
| 2762 | (cartesian_trajectory_planner_B.bid1) - 1] = body->Index; |
| 2763 | cartesian_trajectory_planner_B.bid1++; |
| 2764 | } |
| 2765 | |
| 2766 | if (body->Index > 0.0) { |
| 2767 | ancestorIndices2->data[static_cast<int32_T> |
| 2768 | (cartesian_trajectory_planner_B.bid1) - 1] = body->ParentIndex; |
| 2769 | cartesian_trajectory_planner_B.bid1++; |
| 2770 | } |
| 2771 | |
| 2772 | cartesian_trajec_emxInit_real_T(&ancestorIndices2_0, 2); |
| 2773 | cartesian_trajectory_planner_B.loop_ub_n = static_cast<int32_T> |
| 2774 | (cartesian_trajectory_planner_B.bid1 - 1.0); |
| 2775 | cartesian_trajectory_planner_B.b_kstr = ancestorIndices2_0->size[0] * |
| 2776 | ancestorIndices2_0->size[1]; |
| 2777 | ancestorIndices2_0->size[0] = 1; |
| 2778 | ancestorIndices2_0->size[1] = cartesian_trajectory_planner_B.loop_ub_n; |
| 2779 | cartes_emxEnsureCapacity_real_T(ancestorIndices2_0, |
| 2780 | cartesian_trajectory_planner_B.b_kstr); |
| 2781 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 2782 | cartesian_trajectory_planner_B.b_kstr < |
| 2783 | cartesian_trajectory_planner_B.loop_ub_n; |
| 2784 | cartesian_trajectory_planner_B.b_kstr++) { |
| 2785 | ancestorIndices2_0->data[cartesian_trajectory_planner_B.b_kstr] = |
| 2786 | ancestorIndices2->data[cartesian_trajectory_planner_B.b_kstr]; |
| 2787 | } |
| 2788 | |
| 2789 | cartesian_trajectory_planner_B.b_kstr = ancestorIndices2->size[0] * |
| 2790 | ancestorIndices2->size[1]; |
| 2791 | ancestorIndices2->size[0] = 1; |
| 2792 | ancestorIndices2->size[1] = ancestorIndices2_0->size[1]; |
| 2793 | cartes_emxEnsureCapacity_real_T(ancestorIndices2, |
| 2794 | cartesian_trajectory_planner_B.b_kstr); |
| 2795 | cartesian_trajectory_planner_B.loop_ub_n = ancestorIndices2_0->size[0] * |
| 2796 | ancestorIndices2_0->size[1]; |
| 2797 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 2798 | cartesian_trajectory_planner_B.b_kstr < |
| 2799 | cartesian_trajectory_planner_B.loop_ub_n; |
| 2800 | cartesian_trajectory_planner_B.b_kstr++) { |
| 2801 | ancestorIndices2->data[cartesian_trajectory_planner_B.b_kstr] = |
| 2802 | ancestorIndices2_0->data[cartesian_trajectory_planner_B.b_kstr]; |
| 2803 | } |
| 2804 | |
| 2805 | cartesian_trajec_emxFree_real_T(&ancestorIndices2_0); |
| 2806 | cartesian_trajectory_planner_B.bid1 = ancestorIndices1->size[1]; |
| 2807 | cartesian_trajectory_planner_B.qidx_idx_1 = ancestorIndices2->size[1]; |
| 2808 | if (cartesian_trajectory_planner_B.bid1 < |
| 2809 | cartesian_trajectory_planner_B.qidx_idx_1) { |
| 2810 | cartesian_trajectory_planner_B.qidx_idx_1 = |
| 2811 | cartesian_trajectory_planner_B.bid1; |
| 2812 | } |
| 2813 | |
| 2814 | cartesian_trajectory_planner_B.bid1 = static_cast<int32_T> |
| 2815 | (cartesian_trajectory_planner_B.qidx_idx_1); |
| 2816 | cartesian_trajectory_planner_B.b_i_f = 0; |
| 2817 | exitg1 = false; |
| 2818 | while ((!exitg1) && (cartesian_trajectory_planner_B.b_i_f <= |
| 2819 | static_cast<int32_T> |
| 2820 | (cartesian_trajectory_planner_B.qidx_idx_1) - 2)) { |
| 2821 | if (ancestorIndices1->data[static_cast<int32_T>(static_cast<real_T> |
| 2822 | (ancestorIndices1->size[1]) - (static_cast<real_T> |
| 2823 | (cartesian_trajectory_planner_B.b_i_f) + 1.0)) - 1] != |
| 2824 | ancestorIndices2->data[static_cast<int32_T>(static_cast<real_T> |
| 2825 | (ancestorIndices2->size[1]) - (static_cast<real_T> |
| 2826 | (cartesian_trajectory_planner_B.b_i_f) + 1.0)) - 1]) { |
| 2827 | cartesian_trajectory_planner_B.bid1 = static_cast<real_T> |
| 2828 | (cartesian_trajectory_planner_B.b_i_f) + 1.0; |
| 2829 | exitg1 = true; |
| 2830 | } else { |
| 2831 | cartesian_trajectory_planner_B.b_i_f++; |
| 2832 | } |
| 2833 | } |
| 2834 | |
| 2835 | cartesian_trajectory_planner_B.qidx_idx_1 = static_cast<real_T> |
| 2836 | (ancestorIndices1->size[1]) - cartesian_trajectory_planner_B.bid1; |
| 2837 | if (1.0 > cartesian_trajectory_planner_B.qidx_idx_1) { |
| 2838 | cartesian_trajectory_planner_B.b_i_f = -1; |
| 2839 | } else { |
| 2840 | cartesian_trajectory_planner_B.b_i_f = static_cast<int32_T> |
| 2841 | (cartesian_trajectory_planner_B.qidx_idx_1) - 1; |
| 2842 | } |
| 2843 | |
| 2844 | cartesian_trajectory_planner_B.qidx_idx_1 = static_cast<real_T> |
| 2845 | (ancestorIndices2->size[1]) - cartesian_trajectory_planner_B.bid1; |
| 2846 | if (1.0 > cartesian_trajectory_planner_B.qidx_idx_1) { |
| 2847 | cartesian_trajectory_planner_B.j_i = 0; |
| 2848 | cartesian_trajectory_planner_B.jointSign = 1; |
| 2849 | cartesian_trajectory_planner_B.g = -1; |
| 2850 | } else { |
| 2851 | cartesian_trajectory_planner_B.j_i = static_cast<int32_T> |
| 2852 | (cartesian_trajectory_planner_B.qidx_idx_1) - 1; |
| 2853 | cartesian_trajectory_planner_B.jointSign = -1; |
| 2854 | cartesian_trajectory_planner_B.g = 0; |
| 2855 | } |
| 2856 | |
| 2857 | cartesian_trajec_emxInit_real_T(&kinematicPathIndices, 2); |
| 2858 | cartesian_trajectory_planner_B.b_kstr = kinematicPathIndices->size[0] * |
| 2859 | kinematicPathIndices->size[1]; |
| 2860 | kinematicPathIndices->size[0] = 1; |
| 2861 | cartesian_trajectory_planner_B.loop_ub_n = div_s32_floor |
| 2862 | (cartesian_trajectory_planner_B.g - cartesian_trajectory_planner_B.j_i, |
| 2863 | cartesian_trajectory_planner_B.jointSign); |
| 2864 | kinematicPathIndices->size[1] = (cartesian_trajectory_planner_B.loop_ub_n + |
| 2865 | cartesian_trajectory_planner_B.b_i_f) + 3; |
| 2866 | cartes_emxEnsureCapacity_real_T(kinematicPathIndices, |
| 2867 | cartesian_trajectory_planner_B.b_kstr); |
| 2868 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 2869 | cartesian_trajectory_planner_B.b_kstr <= |
| 2870 | cartesian_trajectory_planner_B.b_i_f; |
| 2871 | cartesian_trajectory_planner_B.b_kstr++) { |
| 2872 | kinematicPathIndices->data[cartesian_trajectory_planner_B.b_kstr] = |
| 2873 | ancestorIndices1->data[cartesian_trajectory_planner_B.b_kstr]; |
| 2874 | } |
| 2875 | |
| 2876 | kinematicPathIndices->data[cartesian_trajectory_planner_B.b_i_f + 1] = |
| 2877 | ancestorIndices1->data[static_cast<int32_T>((static_cast<real_T> |
| 2878 | (ancestorIndices1->size[1]) - cartesian_trajectory_planner_B.bid1) + 1.0) - |
| 2879 | 1]; |
| 2880 | cartesian_trajec_emxFree_real_T(&ancestorIndices1); |
| 2881 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 2882 | cartesian_trajectory_planner_B.b_kstr <= |
| 2883 | cartesian_trajectory_planner_B.loop_ub_n; |
| 2884 | cartesian_trajectory_planner_B.b_kstr++) { |
| 2885 | kinematicPathIndices->data[(cartesian_trajectory_planner_B.b_kstr + |
| 2886 | cartesian_trajectory_planner_B.b_i_f) + 2] = ancestorIndices2-> |
| 2887 | data[cartesian_trajectory_planner_B.jointSign * |
| 2888 | cartesian_trajectory_planner_B.b_kstr + cartesian_trajectory_planner_B.j_i]; |
| 2889 | } |
| 2890 | |
| 2891 | cartesian_trajec_emxFree_real_T(&ancestorIndices2); |
| 2892 | memset(&cartesian_trajectory_planner_B.T1[0], 0, sizeof(real_T) << 4U); |
| 2893 | cartesian_trajectory_planner_B.T1[0] = 1.0; |
| 2894 | cartesian_trajectory_planner_B.T1[5] = 1.0; |
| 2895 | cartesian_trajectory_planner_B.T1[10] = 1.0; |
| 2896 | cartesian_trajectory_planner_B.T1[15] = 1.0; |
| 2897 | cartesian_trajectory_planner_B.b_kstr = Jac->size[0] * Jac->size[1]; |
| 2898 | Jac->size[0] = 6; |
| 2899 | Jac->size[1] = static_cast<int32_T>(obj->PositionNumber); |
| 2900 | cartes_emxEnsureCapacity_real_T(Jac, cartesian_trajectory_planner_B.b_kstr); |
| 2901 | cartesian_trajectory_planner_B.loop_ub_n = 6 * static_cast<int32_T> |
| 2902 | (obj->PositionNumber) - 1; |
| 2903 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 2904 | cartesian_trajectory_planner_B.b_kstr <= |
| 2905 | cartesian_trajectory_planner_B.loop_ub_n; |
| 2906 | cartesian_trajectory_planner_B.b_kstr++) { |
| 2907 | Jac->data[cartesian_trajectory_planner_B.b_kstr] = 0.0; |
| 2908 | } |
| 2909 | |
| 2910 | cartesian_trajectory_planner_B.j_i = kinematicPathIndices->size[1] - 2; |
| 2911 | cartesian_trajec_emxInit_real_T(&y, 2); |
| 2912 | cartesian_trajec_emxInit_real_T(&b, 2); |
| 2913 | if (0 <= cartesian_trajectory_planner_B.j_i) { |
| 2914 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 2915 | cartesian_trajectory_planner_B.b_kstr < 5; |
| 2916 | cartesian_trajectory_planner_B.b_kstr++) { |
| 2917 | cartesian_trajectory_planner_B.b_dv[cartesian_trajectory_planner_B.b_kstr] |
| 2918 | = tmp[cartesian_trajectory_planner_B.b_kstr]; |
| 2919 | } |
| 2920 | } |
| 2921 | |
| 2922 | for (cartesian_trajectory_planner_B.b_i_f = 0; |
| 2923 | cartesian_trajectory_planner_B.b_i_f <= |
| 2924 | cartesian_trajectory_planner_B.j_i; cartesian_trajectory_planner_B.b_i_f |
| 2925 | ++) { |
| 2926 | if (kinematicPathIndices->data[cartesian_trajectory_planner_B.b_i_f] != 0.0) |
| 2927 | { |
| 2928 | body1 = obj->Bodies[static_cast<int32_T>(kinematicPathIndices-> |
| 2929 | data[cartesian_trajectory_planner_B.b_i_f]) - 1]; |
| 2930 | } else { |
| 2931 | body1 = &obj->Base; |
| 2932 | } |
| 2933 | |
| 2934 | cartesian_trajectory_planner_B.b_kstr = static_cast<int32_T> |
| 2935 | ((static_cast<real_T>(cartesian_trajectory_planner_B.b_i_f) + 1.0) + 1.0) |
| 2936 | - 1; |
| 2937 | if (kinematicPathIndices->data[cartesian_trajectory_planner_B.b_kstr] != 0.0) |
| 2938 | { |
| 2939 | body2 = obj->Bodies[static_cast<int32_T>(kinematicPathIndices-> |
| 2940 | data[cartesian_trajectory_planner_B.b_kstr]) - 1]; |
| 2941 | } else { |
| 2942 | body2 = &obj->Base; |
| 2943 | } |
| 2944 | |
| 2945 | cartesian_trajectory_planner_B.nextBodyIsParent = (body2->Index == |
| 2946 | body1->ParentIndex); |
| 2947 | if (cartesian_trajectory_planner_B.nextBodyIsParent) { |
| 2948 | body2 = body1; |
| 2949 | cartesian_trajectory_planner_B.jointSign = 1; |
| 2950 | } else { |
| 2951 | cartesian_trajectory_planner_B.jointSign = -1; |
| 2952 | } |
| 2953 | |
| 2954 | joint = body2->JointInternal; |
| 2955 | cartesian_trajectory_planner_B.b_kstr = body2Name->size[0] * body2Name-> |
| 2956 | size[1]; |
| 2957 | body2Name->size[0] = 1; |
| 2958 | body2Name->size[1] = joint->Type->size[1]; |
| 2959 | cartes_emxEnsureCapacity_char_T(body2Name, |
| 2960 | cartesian_trajectory_planner_B.b_kstr); |
| 2961 | cartesian_trajectory_planner_B.loop_ub_n = joint->Type->size[0] * |
| 2962 | joint->Type->size[1] - 1; |
| 2963 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 2964 | cartesian_trajectory_planner_B.b_kstr <= |
| 2965 | cartesian_trajectory_planner_B.loop_ub_n; |
| 2966 | cartesian_trajectory_planner_B.b_kstr++) { |
| 2967 | body2Name->data[cartesian_trajectory_planner_B.b_kstr] = joint->Type-> |
| 2968 | data[cartesian_trajectory_planner_B.b_kstr]; |
| 2969 | } |
| 2970 | |
| 2971 | cartesian_trajectory_planner_B.b_bool = false; |
| 2972 | if (body2Name->size[1] == 5) { |
| 2973 | cartesian_trajectory_planner_B.b_kstr = 1; |
| 2974 | do { |
| 2975 | exitg2 = 0; |
| 2976 | if (cartesian_trajectory_planner_B.b_kstr - 1 < 5) { |
| 2977 | cartesian_trajectory_planner_B.g = |
| 2978 | cartesian_trajectory_planner_B.b_kstr - 1; |
| 2979 | if (body2Name->data[cartesian_trajectory_planner_B.g] != |
| 2980 | cartesian_trajectory_planner_B.b_dv[cartesian_trajectory_planner_B.g]) |
| 2981 | { |
| 2982 | exitg2 = 1; |
| 2983 | } else { |
| 2984 | cartesian_trajectory_planner_B.b_kstr++; |
| 2985 | } |
| 2986 | } else { |
| 2987 | cartesian_trajectory_planner_B.b_bool = true; |
| 2988 | exitg2 = 1; |
| 2989 | } |
| 2990 | } while (exitg2 == 0); |
| 2991 | } |
| 2992 | |
| 2993 | if (cartesian_trajectory_planner_B.b_bool) { |
| 2994 | rigidBodyJoint_transformBodyToP(joint, cartesian_trajectory_planner_B.Tc2p); |
| 2995 | } else { |
| 2996 | cartesian_trajectory_planner_B.b_kstr = static_cast<int32_T>(body2->Index); |
| 2997 | cartesian_trajectory_planner_B.bid1 = obj-> |
| 2998 | PositionDoFMap[cartesian_trajectory_planner_B.b_kstr - 1]; |
| 2999 | cartesian_trajectory_planner_B.qidx_idx_1 = obj-> |
| 3000 | PositionDoFMap[cartesian_trajectory_planner_B.b_kstr + 7]; |
| 3001 | if (cartesian_trajectory_planner_B.bid1 > |
| 3002 | cartesian_trajectory_planner_B.qidx_idx_1) { |
| 3003 | cartesian_trajectory_planner_B.g = 0; |
| 3004 | cartesian_trajectory_planner_B.b_kstr = -1; |
| 3005 | } else { |
| 3006 | cartesian_trajectory_planner_B.g = static_cast<int32_T> |
| 3007 | (cartesian_trajectory_planner_B.bid1) - 1; |
| 3008 | cartesian_trajectory_planner_B.b_kstr = static_cast<int32_T> |
| 3009 | (cartesian_trajectory_planner_B.qidx_idx_1) - 1; |
| 3010 | } |
| 3011 | |
| 3012 | cartesian_trajectory_planner_B.loop_ub_n = |
| 3013 | cartesian_trajectory_planner_B.b_kstr - cartesian_trajectory_planner_B.g; |
| 3014 | cartesian_trajectory_planner_B.qv_size = |
| 3015 | cartesian_trajectory_planner_B.loop_ub_n + 1; |
| 3016 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 3017 | cartesian_trajectory_planner_B.b_kstr <= |
| 3018 | cartesian_trajectory_planner_B.loop_ub_n; |
| 3019 | cartesian_trajectory_planner_B.b_kstr++) { |
| 3020 | cartesian_trajectory_planner_B.qv_data[cartesian_trajectory_planner_B.b_kstr] |
| 3021 | = qv[cartesian_trajectory_planner_B.g + |
| 3022 | cartesian_trajectory_planner_B.b_kstr]; |
| 3023 | } |
| 3024 | |
| 3025 | rigidBodyJoint_transformBodyT_a(joint, |
| 3026 | cartesian_trajectory_planner_B.qv_data, |
| 3027 | &cartesian_trajectory_planner_B.qv_size, |
| 3028 | cartesian_trajectory_planner_B.Tc2p); |
| 3029 | cartesian_trajectory_planner_B.b_kstr = static_cast<int32_T>(body2->Index); |
| 3030 | cartesian_trajectory_planner_B.bid1 = obj-> |
| 3031 | VelocityDoFMap[cartesian_trajectory_planner_B.b_kstr - 1]; |
| 3032 | cartesian_trajectory_planner_B.qidx_idx_1 = obj-> |
| 3033 | VelocityDoFMap[cartesian_trajectory_planner_B.b_kstr + 7]; |
| 3034 | if (cartesian_trajectory_planner_B.nextBodyIsParent) { |
| 3035 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 3036 | cartesian_trajectory_planner_B.b_kstr < 16; |
| 3037 | cartesian_trajectory_planner_B.b_kstr++) { |
| 3038 | cartesian_trajectory_planner_B.Tj[cartesian_trajectory_planner_B.b_kstr] |
| 3039 | = joint->ChildToJointTransform[cartesian_trajectory_planner_B.b_kstr]; |
| 3040 | } |
| 3041 | } else { |
| 3042 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 3043 | cartesian_trajectory_planner_B.b_kstr < 16; |
| 3044 | cartesian_trajectory_planner_B.b_kstr++) { |
| 3045 | cartesian_trajectory_planner_B.T1j[cartesian_trajectory_planner_B.b_kstr] |
| 3046 | = joint-> |
| 3047 | JointToParentTransform[cartesian_trajectory_planner_B.b_kstr]; |
| 3048 | } |
| 3049 | |
| 3050 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 3051 | cartesian_trajectory_planner_B.b_kstr < 3; |
| 3052 | cartesian_trajectory_planner_B.b_kstr++) { |
| 3053 | cartesian_trajectory_planner_B.R_i[3 * |
| 3054 | cartesian_trajectory_planner_B.b_kstr] = |
| 3055 | cartesian_trajectory_planner_B.T1j[cartesian_trajectory_planner_B.b_kstr]; |
| 3056 | cartesian_trajectory_planner_B.R_i[3 * |
| 3057 | cartesian_trajectory_planner_B.b_kstr + 1] = |
| 3058 | cartesian_trajectory_planner_B.T1j[cartesian_trajectory_planner_B.b_kstr |
| 3059 | + 4]; |
| 3060 | cartesian_trajectory_planner_B.R_i[3 * |
| 3061 | cartesian_trajectory_planner_B.b_kstr + 2] = |
| 3062 | cartesian_trajectory_planner_B.T1j[cartesian_trajectory_planner_B.b_kstr |
| 3063 | + 8]; |
| 3064 | } |
| 3065 | |
| 3066 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 3067 | cartesian_trajectory_planner_B.b_kstr < 9; |
| 3068 | cartesian_trajectory_planner_B.b_kstr++) { |
| 3069 | cartesian_trajectory_planner_B.R_f[cartesian_trajectory_planner_B.b_kstr] |
| 3070 | = |
| 3071 | -cartesian_trajectory_planner_B.R_i[cartesian_trajectory_planner_B.b_kstr]; |
| 3072 | } |
| 3073 | |
| 3074 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 3075 | cartesian_trajectory_planner_B.b_kstr < 3; |
| 3076 | cartesian_trajectory_planner_B.b_kstr++) { |
| 3077 | cartesian_trajectory_planner_B.g = |
| 3078 | cartesian_trajectory_planner_B.b_kstr << 2; |
| 3079 | cartesian_trajectory_planner_B.Tj[cartesian_trajectory_planner_B.g] = |
| 3080 | cartesian_trajectory_planner_B.R_i[3 * |
| 3081 | cartesian_trajectory_planner_B.b_kstr]; |
| 3082 | cartesian_trajectory_planner_B.Tj[cartesian_trajectory_planner_B.g + 1] |
| 3083 | = cartesian_trajectory_planner_B.R_i[3 * |
| 3084 | cartesian_trajectory_planner_B.b_kstr + 1]; |
| 3085 | cartesian_trajectory_planner_B.Tj[cartesian_trajectory_planner_B.g + 2] |
| 3086 | = cartesian_trajectory_planner_B.R_i[3 * |
| 3087 | cartesian_trajectory_planner_B.b_kstr + 2]; |
| 3088 | cartesian_trajectory_planner_B.Tj[cartesian_trajectory_planner_B.b_kstr |
| 3089 | + 12] = |
| 3090 | cartesian_trajectory_planner_B.R_f[cartesian_trajectory_planner_B.b_kstr |
| 3091 | + 6] * cartesian_trajectory_planner_B.T1j[14] + |
| 3092 | (cartesian_trajectory_planner_B.R_f[cartesian_trajectory_planner_B.b_kstr |
| 3093 | + 3] * cartesian_trajectory_planner_B.T1j[13] + |
| 3094 | cartesian_trajectory_planner_B.R_f[cartesian_trajectory_planner_B.b_kstr] |
| 3095 | * cartesian_trajectory_planner_B.T1j[12]); |
| 3096 | } |
| 3097 | |
| 3098 | cartesian_trajectory_planner_B.Tj[3] = 0.0; |
| 3099 | cartesian_trajectory_planner_B.Tj[7] = 0.0; |
| 3100 | cartesian_trajectory_planner_B.Tj[11] = 0.0; |
| 3101 | cartesian_trajectory_planner_B.Tj[15] = 1.0; |
| 3102 | } |
| 3103 | |
| 3104 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 3105 | cartesian_trajectory_planner_B.b_kstr < 4; |
| 3106 | cartesian_trajectory_planner_B.b_kstr++) { |
| 3107 | for (cartesian_trajectory_planner_B.g = 0; |
| 3108 | cartesian_trajectory_planner_B.g < 4; |
| 3109 | cartesian_trajectory_planner_B.g++) { |
| 3110 | cartesian_trajectory_planner_B.loop_ub_n = |
| 3111 | cartesian_trajectory_planner_B.g << 2; |
| 3112 | cartesian_trajectory_planner_B.n_c = |
| 3113 | cartesian_trajectory_planner_B.b_kstr + |
| 3114 | cartesian_trajectory_planner_B.loop_ub_n; |
| 3115 | cartesian_trajectory_planner_B.T1j[cartesian_trajectory_planner_B.n_c] |
| 3116 | = 0.0; |
| 3117 | cartesian_trajectory_planner_B.T1j[cartesian_trajectory_planner_B.n_c] |
| 3118 | += |
| 3119 | cartesian_trajectory_planner_B.T1[cartesian_trajectory_planner_B.loop_ub_n] |
| 3120 | * cartesian_trajectory_planner_B.Tj[cartesian_trajectory_planner_B.b_kstr]; |
| 3121 | cartesian_trajectory_planner_B.T1j[cartesian_trajectory_planner_B.n_c] |
| 3122 | += |
| 3123 | cartesian_trajectory_planner_B.T1[cartesian_trajectory_planner_B.loop_ub_n |
| 3124 | + 1] * |
| 3125 | cartesian_trajectory_planner_B.Tj[cartesian_trajectory_planner_B.b_kstr |
| 3126 | + 4]; |
| 3127 | cartesian_trajectory_planner_B.T1j[cartesian_trajectory_planner_B.n_c] |
| 3128 | += |
| 3129 | cartesian_trajectory_planner_B.T1[cartesian_trajectory_planner_B.loop_ub_n |
| 3130 | + 2] * |
| 3131 | cartesian_trajectory_planner_B.Tj[cartesian_trajectory_planner_B.b_kstr |
| 3132 | + 8]; |
| 3133 | cartesian_trajectory_planner_B.T1j[cartesian_trajectory_planner_B.n_c] |
| 3134 | += |
| 3135 | cartesian_trajectory_planner_B.T1[cartesian_trajectory_planner_B.loop_ub_n |
| 3136 | + 3] * |
| 3137 | cartesian_trajectory_planner_B.Tj[cartesian_trajectory_planner_B.b_kstr |
| 3138 | + 12]; |
| 3139 | } |
| 3140 | } |
| 3141 | |
| 3142 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 3143 | cartesian_trajectory_planner_B.b_kstr < 3; |
| 3144 | cartesian_trajectory_planner_B.b_kstr++) { |
| 3145 | cartesian_trajectory_planner_B.R_i[3 * |
| 3146 | cartesian_trajectory_planner_B.b_kstr] = |
| 3147 | cartesian_trajectory_planner_B.T1j[cartesian_trajectory_planner_B.b_kstr]; |
| 3148 | cartesian_trajectory_planner_B.R_i[3 * |
| 3149 | cartesian_trajectory_planner_B.b_kstr + 1] = |
| 3150 | cartesian_trajectory_planner_B.T1j[cartesian_trajectory_planner_B.b_kstr |
| 3151 | + 4]; |
| 3152 | cartesian_trajectory_planner_B.R_i[3 * |
| 3153 | cartesian_trajectory_planner_B.b_kstr + 2] = |
| 3154 | cartesian_trajectory_planner_B.T1j[cartesian_trajectory_planner_B.b_kstr |
| 3155 | + 8]; |
| 3156 | } |
| 3157 | |
| 3158 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 3159 | cartesian_trajectory_planner_B.b_kstr < 9; |
| 3160 | cartesian_trajectory_planner_B.b_kstr++) { |
| 3161 | cartesian_trajectory_planner_B.R_f[cartesian_trajectory_planner_B.b_kstr] |
| 3162 | = |
| 3163 | -cartesian_trajectory_planner_B.R_i[cartesian_trajectory_planner_B.b_kstr]; |
| 3164 | } |
| 3165 | |
| 3166 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 3167 | cartesian_trajectory_planner_B.b_kstr < 3; |
| 3168 | cartesian_trajectory_planner_B.b_kstr++) { |
| 3169 | cartesian_trajectory_planner_B.g = cartesian_trajectory_planner_B.b_kstr |
| 3170 | << 2; |
| 3171 | cartesian_trajectory_planner_B.Tj[cartesian_trajectory_planner_B.g] = |
| 3172 | cartesian_trajectory_planner_B.R_i[3 * |
| 3173 | cartesian_trajectory_planner_B.b_kstr]; |
| 3174 | cartesian_trajectory_planner_B.Tj[cartesian_trajectory_planner_B.g + 1] = |
| 3175 | cartesian_trajectory_planner_B.R_i[3 * |
| 3176 | cartesian_trajectory_planner_B.b_kstr + 1]; |
| 3177 | cartesian_trajectory_planner_B.Tj[cartesian_trajectory_planner_B.g + 2] = |
| 3178 | cartesian_trajectory_planner_B.R_i[3 * |
| 3179 | cartesian_trajectory_planner_B.b_kstr + 2]; |
| 3180 | cartesian_trajectory_planner_B.Tj[cartesian_trajectory_planner_B.b_kstr |
| 3181 | + 12] = |
| 3182 | cartesian_trajectory_planner_B.R_f[cartesian_trajectory_planner_B.b_kstr |
| 3183 | + 6] * cartesian_trajectory_planner_B.T1j[14] + |
| 3184 | (cartesian_trajectory_planner_B.R_f[cartesian_trajectory_planner_B.b_kstr |
| 3185 | + 3] * cartesian_trajectory_planner_B.T1j[13] + |
| 3186 | cartesian_trajectory_planner_B.R_f[cartesian_trajectory_planner_B.b_kstr] |
| 3187 | * cartesian_trajectory_planner_B.T1j[12]); |
| 3188 | } |
| 3189 | |
| 3190 | cartesian_trajectory_planner_B.Tj[3] = 0.0; |
| 3191 | cartesian_trajectory_planner_B.Tj[7] = 0.0; |
| 3192 | cartesian_trajectory_planner_B.Tj[11] = 0.0; |
| 3193 | cartesian_trajectory_planner_B.Tj[15] = 1.0; |
| 3194 | cartesian_trajectory_planner_B.R_i[0] = 0.0; |
| 3195 | cartesian_trajectory_planner_B.R_i[3] = |
| 3196 | -cartesian_trajectory_planner_B.Tj[14]; |
| 3197 | cartesian_trajectory_planner_B.R_i[6] = cartesian_trajectory_planner_B.Tj |
| 3198 | [13]; |
| 3199 | cartesian_trajectory_planner_B.R_i[1] = cartesian_trajectory_planner_B.Tj |
| 3200 | [14]; |
| 3201 | cartesian_trajectory_planner_B.R_i[4] = 0.0; |
| 3202 | cartesian_trajectory_planner_B.R_i[7] = |
| 3203 | -cartesian_trajectory_planner_B.Tj[12]; |
| 3204 | cartesian_trajectory_planner_B.R_i[2] = |
| 3205 | -cartesian_trajectory_planner_B.Tj[13]; |
| 3206 | cartesian_trajectory_planner_B.R_i[5] = cartesian_trajectory_planner_B.Tj |
| 3207 | [12]; |
| 3208 | cartesian_trajectory_planner_B.R_i[8] = 0.0; |
| 3209 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 3210 | cartesian_trajectory_planner_B.b_kstr < 3; |
| 3211 | cartesian_trajectory_planner_B.b_kstr++) { |
| 3212 | for (cartesian_trajectory_planner_B.g = 0; |
| 3213 | cartesian_trajectory_planner_B.g < 3; |
| 3214 | cartesian_trajectory_planner_B.g++) { |
| 3215 | cartesian_trajectory_planner_B.loop_ub_n = |
| 3216 | cartesian_trajectory_planner_B.b_kstr + 3 * |
| 3217 | cartesian_trajectory_planner_B.g; |
| 3218 | cartesian_trajectory_planner_B.R_f[cartesian_trajectory_planner_B.loop_ub_n] |
| 3219 | = 0.0; |
| 3220 | cartesian_trajectory_planner_B.n_c = cartesian_trajectory_planner_B.g << |
| 3221 | 2; |
| 3222 | cartesian_trajectory_planner_B.R_f[cartesian_trajectory_planner_B.loop_ub_n] |
| 3223 | += |
| 3224 | cartesian_trajectory_planner_B.Tj[cartesian_trajectory_planner_B.n_c] |
| 3225 | * cartesian_trajectory_planner_B.R_i[cartesian_trajectory_planner_B.b_kstr]; |
| 3226 | cartesian_trajectory_planner_B.R_f[cartesian_trajectory_planner_B.loop_ub_n] |
| 3227 | += |
| 3228 | cartesian_trajectory_planner_B.Tj[cartesian_trajectory_planner_B.n_c |
| 3229 | + 1] * |
| 3230 | cartesian_trajectory_planner_B.R_i[cartesian_trajectory_planner_B.b_kstr |
| 3231 | + 3]; |
| 3232 | cartesian_trajectory_planner_B.R_f[cartesian_trajectory_planner_B.loop_ub_n] |
| 3233 | += |
| 3234 | cartesian_trajectory_planner_B.Tj[cartesian_trajectory_planner_B.n_c |
| 3235 | + 2] * |
| 3236 | cartesian_trajectory_planner_B.R_i[cartesian_trajectory_planner_B.b_kstr |
| 3237 | + 6]; |
| 3238 | cartesian_trajectory_planner_B.X[cartesian_trajectory_planner_B.g + 6 * |
| 3239 | cartesian_trajectory_planner_B.b_kstr] = |
| 3240 | cartesian_trajectory_planner_B.Tj |
| 3241 | [(cartesian_trajectory_planner_B.b_kstr << 2) + |
| 3242 | cartesian_trajectory_planner_B.g]; |
| 3243 | cartesian_trajectory_planner_B.X[cartesian_trajectory_planner_B.g + 6 * |
| 3244 | (cartesian_trajectory_planner_B.b_kstr + 3)] = 0.0; |
| 3245 | } |
| 3246 | } |
| 3247 | |
| 3248 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 3249 | cartesian_trajectory_planner_B.b_kstr < 3; |
| 3250 | cartesian_trajectory_planner_B.b_kstr++) { |
| 3251 | cartesian_trajectory_planner_B.X[6 * |
| 3252 | cartesian_trajectory_planner_B.b_kstr + 3] = |
| 3253 | cartesian_trajectory_planner_B.R_f[3 * |
| 3254 | cartesian_trajectory_planner_B.b_kstr]; |
| 3255 | cartesian_trajectory_planner_B.g = cartesian_trajectory_planner_B.b_kstr |
| 3256 | << 2; |
| 3257 | cartesian_trajectory_planner_B.loop_ub_n = 6 * |
| 3258 | (cartesian_trajectory_planner_B.b_kstr + 3); |
| 3259 | cartesian_trajectory_planner_B.X[cartesian_trajectory_planner_B.loop_ub_n |
| 3260 | + 3] = |
| 3261 | cartesian_trajectory_planner_B.Tj[cartesian_trajectory_planner_B.g]; |
| 3262 | cartesian_trajectory_planner_B.X[6 * |
| 3263 | cartesian_trajectory_planner_B.b_kstr + 4] = |
| 3264 | cartesian_trajectory_planner_B.R_f[3 * |
| 3265 | cartesian_trajectory_planner_B.b_kstr + 1]; |
| 3266 | cartesian_trajectory_planner_B.X[cartesian_trajectory_planner_B.loop_ub_n |
| 3267 | + 4] = |
| 3268 | cartesian_trajectory_planner_B.Tj[cartesian_trajectory_planner_B.g + 1]; |
| 3269 | cartesian_trajectory_planner_B.X[6 * |
| 3270 | cartesian_trajectory_planner_B.b_kstr + 5] = |
| 3271 | cartesian_trajectory_planner_B.R_f[3 * |
| 3272 | cartesian_trajectory_planner_B.b_kstr + 2]; |
| 3273 | cartesian_trajectory_planner_B.X[cartesian_trajectory_planner_B.loop_ub_n |
| 3274 | + 5] = |
| 3275 | cartesian_trajectory_planner_B.Tj[cartesian_trajectory_planner_B.g + 2]; |
| 3276 | } |
| 3277 | |
| 3278 | cartesian_trajectory_planner_B.b_kstr = b->size[0] * b->size[1]; |
| 3279 | b->size[0] = 6; |
| 3280 | b->size[1] = joint->MotionSubspace->size[1]; |
| 3281 | cartes_emxEnsureCapacity_real_T(b, cartesian_trajectory_planner_B.b_kstr); |
| 3282 | cartesian_trajectory_planner_B.loop_ub_n = joint->MotionSubspace->size[0] * |
| 3283 | joint->MotionSubspace->size[1] - 1; |
| 3284 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 3285 | cartesian_trajectory_planner_B.b_kstr <= |
| 3286 | cartesian_trajectory_planner_B.loop_ub_n; |
| 3287 | cartesian_trajectory_planner_B.b_kstr++) { |
| 3288 | b->data[cartesian_trajectory_planner_B.b_kstr] = joint-> |
| 3289 | MotionSubspace->data[cartesian_trajectory_planner_B.b_kstr]; |
| 3290 | } |
| 3291 | |
| 3292 | cartesian_trajectory_planner_B.n_c = b->size[1] - 1; |
| 3293 | cartesian_trajectory_planner_B.b_kstr = y->size[0] * y->size[1]; |
| 3294 | y->size[0] = 6; |
| 3295 | y->size[1] = b->size[1]; |
| 3296 | cartes_emxEnsureCapacity_real_T(y, cartesian_trajectory_planner_B.b_kstr); |
| 3297 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 3298 | cartesian_trajectory_planner_B.b_kstr <= |
| 3299 | cartesian_trajectory_planner_B.n_c; |
| 3300 | cartesian_trajectory_planner_B.b_kstr++) { |
| 3301 | cartesian_trajectory_planner_B.coffset_tmp = |
| 3302 | cartesian_trajectory_planner_B.b_kstr * 6 - 1; |
| 3303 | for (cartesian_trajectory_planner_B.g = 0; |
| 3304 | cartesian_trajectory_planner_B.g < 6; |
| 3305 | cartesian_trajectory_planner_B.g++) { |
| 3306 | cartesian_trajectory_planner_B.bid2 = 0.0; |
| 3307 | for (cartesian_trajectory_planner_B.loop_ub_n = 0; |
| 3308 | cartesian_trajectory_planner_B.loop_ub_n < 6; |
| 3309 | cartesian_trajectory_planner_B.loop_ub_n++) { |
| 3310 | cartesian_trajectory_planner_B.bid2 += |
| 3311 | cartesian_trajectory_planner_B.X[cartesian_trajectory_planner_B.loop_ub_n |
| 3312 | * 6 + cartesian_trajectory_planner_B.g] * b->data |
| 3313 | [(cartesian_trajectory_planner_B.coffset_tmp + |
| 3314 | cartesian_trajectory_planner_B.loop_ub_n) + 1]; |
| 3315 | } |
| 3316 | |
| 3317 | y->data[(cartesian_trajectory_planner_B.coffset_tmp + |
| 3318 | cartesian_trajectory_planner_B.g) + 1] = |
| 3319 | cartesian_trajectory_planner_B.bid2; |
| 3320 | } |
| 3321 | } |
| 3322 | |
| 3323 | if (cartesian_trajectory_planner_B.bid1 > |
| 3324 | cartesian_trajectory_planner_B.qidx_idx_1) { |
| 3325 | cartesian_trajectory_planner_B.n_c = 0; |
| 3326 | } else { |
| 3327 | cartesian_trajectory_planner_B.n_c = static_cast<int32_T> |
| 3328 | (cartesian_trajectory_planner_B.bid1) - 1; |
| 3329 | } |
| 3330 | |
| 3331 | cartesian_trajectory_planner_B.loop_ub_n = y->size[1]; |
| 3332 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 3333 | cartesian_trajectory_planner_B.b_kstr < |
| 3334 | cartesian_trajectory_planner_B.loop_ub_n; |
| 3335 | cartesian_trajectory_planner_B.b_kstr++) { |
| 3336 | for (cartesian_trajectory_planner_B.g = 0; |
| 3337 | cartesian_trajectory_planner_B.g < 6; |
| 3338 | cartesian_trajectory_planner_B.g++) { |
| 3339 | Jac->data[cartesian_trajectory_planner_B.g + 6 * |
| 3340 | (cartesian_trajectory_planner_B.n_c + |
| 3341 | cartesian_trajectory_planner_B.b_kstr)] = y->data[6 * |
| 3342 | cartesian_trajectory_planner_B.b_kstr + |
| 3343 | cartesian_trajectory_planner_B.g] * static_cast<real_T> |
| 3344 | (cartesian_trajectory_planner_B.jointSign); |
| 3345 | } |
| 3346 | } |
| 3347 | } |
| 3348 | |
| 3349 | if (cartesian_trajectory_planner_B.nextBodyIsParent) { |
| 3350 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 3351 | cartesian_trajectory_planner_B.b_kstr < 4; |
| 3352 | cartesian_trajectory_planner_B.b_kstr++) { |
| 3353 | for (cartesian_trajectory_planner_B.g = 0; |
| 3354 | cartesian_trajectory_planner_B.g < 4; |
| 3355 | cartesian_trajectory_planner_B.g++) { |
| 3356 | cartesian_trajectory_planner_B.loop_ub_n = |
| 3357 | cartesian_trajectory_planner_B.g << 2; |
| 3358 | cartesian_trajectory_planner_B.jointSign = |
| 3359 | cartesian_trajectory_planner_B.b_kstr + |
| 3360 | cartesian_trajectory_planner_B.loop_ub_n; |
| 3361 | cartesian_trajectory_planner_B.T1j[cartesian_trajectory_planner_B.jointSign] |
| 3362 | = 0.0; |
| 3363 | cartesian_trajectory_planner_B.T1j[cartesian_trajectory_planner_B.jointSign] |
| 3364 | += |
| 3365 | cartesian_trajectory_planner_B.T1[cartesian_trajectory_planner_B.loop_ub_n] |
| 3366 | * cartesian_trajectory_planner_B.Tc2p[cartesian_trajectory_planner_B.b_kstr]; |
| 3367 | cartesian_trajectory_planner_B.T1j[cartesian_trajectory_planner_B.jointSign] |
| 3368 | += |
| 3369 | cartesian_trajectory_planner_B.T1[cartesian_trajectory_planner_B.loop_ub_n |
| 3370 | + 1] * |
| 3371 | cartesian_trajectory_planner_B.Tc2p[cartesian_trajectory_planner_B.b_kstr |
| 3372 | + 4]; |
| 3373 | cartesian_trajectory_planner_B.T1j[cartesian_trajectory_planner_B.jointSign] |
| 3374 | += |
| 3375 | cartesian_trajectory_planner_B.T1[cartesian_trajectory_planner_B.loop_ub_n |
| 3376 | + 2] * |
| 3377 | cartesian_trajectory_planner_B.Tc2p[cartesian_trajectory_planner_B.b_kstr |
| 3378 | + 8]; |
| 3379 | cartesian_trajectory_planner_B.T1j[cartesian_trajectory_planner_B.jointSign] |
| 3380 | += |
| 3381 | cartesian_trajectory_planner_B.T1[cartesian_trajectory_planner_B.loop_ub_n |
| 3382 | + 3] * |
| 3383 | cartesian_trajectory_planner_B.Tc2p[cartesian_trajectory_planner_B.b_kstr |
| 3384 | + 12]; |
| 3385 | } |
| 3386 | } |
| 3387 | |
| 3388 | memcpy(&cartesian_trajectory_planner_B.T1[0], |
| 3389 | &cartesian_trajectory_planner_B.T1j[0], sizeof(real_T) << 4U); |
| 3390 | } else { |
| 3391 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 3392 | cartesian_trajectory_planner_B.b_kstr < 3; |
| 3393 | cartesian_trajectory_planner_B.b_kstr++) { |
| 3394 | cartesian_trajectory_planner_B.R_i[3 * |
| 3395 | cartesian_trajectory_planner_B.b_kstr] = |
| 3396 | cartesian_trajectory_planner_B.Tc2p[cartesian_trajectory_planner_B.b_kstr]; |
| 3397 | cartesian_trajectory_planner_B.R_i[3 * |
| 3398 | cartesian_trajectory_planner_B.b_kstr + 1] = |
| 3399 | cartesian_trajectory_planner_B.Tc2p[cartesian_trajectory_planner_B.b_kstr |
| 3400 | + 4]; |
| 3401 | cartesian_trajectory_planner_B.R_i[3 * |
| 3402 | cartesian_trajectory_planner_B.b_kstr + 2] = |
| 3403 | cartesian_trajectory_planner_B.Tc2p[cartesian_trajectory_planner_B.b_kstr |
| 3404 | + 8]; |
| 3405 | } |
| 3406 | |
| 3407 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 3408 | cartesian_trajectory_planner_B.b_kstr < 9; |
| 3409 | cartesian_trajectory_planner_B.b_kstr++) { |
| 3410 | cartesian_trajectory_planner_B.R_f[cartesian_trajectory_planner_B.b_kstr] |
| 3411 | = |
| 3412 | -cartesian_trajectory_planner_B.R_i[cartesian_trajectory_planner_B.b_kstr]; |
| 3413 | } |
| 3414 | |
| 3415 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 3416 | cartesian_trajectory_planner_B.b_kstr < 3; |
| 3417 | cartesian_trajectory_planner_B.b_kstr++) { |
| 3418 | cartesian_trajectory_planner_B.loop_ub_n = |
| 3419 | cartesian_trajectory_planner_B.b_kstr << 2; |
| 3420 | cartesian_trajectory_planner_B.T1j[cartesian_trajectory_planner_B.loop_ub_n] |
| 3421 | = cartesian_trajectory_planner_B.R_i[3 * |
| 3422 | cartesian_trajectory_planner_B.b_kstr]; |
| 3423 | cartesian_trajectory_planner_B.T1j[cartesian_trajectory_planner_B.loop_ub_n |
| 3424 | + 1] = cartesian_trajectory_planner_B.R_i[3 * |
| 3425 | cartesian_trajectory_planner_B.b_kstr + 1]; |
| 3426 | cartesian_trajectory_planner_B.T1j[cartesian_trajectory_planner_B.loop_ub_n |
| 3427 | + 2] = cartesian_trajectory_planner_B.R_i[3 * |
| 3428 | cartesian_trajectory_planner_B.b_kstr + 2]; |
| 3429 | cartesian_trajectory_planner_B.T1j[cartesian_trajectory_planner_B.b_kstr |
| 3430 | + 12] = |
| 3431 | cartesian_trajectory_planner_B.R_f[cartesian_trajectory_planner_B.b_kstr |
| 3432 | + 6] * cartesian_trajectory_planner_B.Tc2p[14] + |
| 3433 | (cartesian_trajectory_planner_B.R_f[cartesian_trajectory_planner_B.b_kstr |
| 3434 | + 3] * cartesian_trajectory_planner_B.Tc2p[13] + |
| 3435 | cartesian_trajectory_planner_B.R_f[cartesian_trajectory_planner_B.b_kstr] |
| 3436 | * cartesian_trajectory_planner_B.Tc2p[12]); |
| 3437 | } |
| 3438 | |
| 3439 | cartesian_trajectory_planner_B.T1j[3] = 0.0; |
| 3440 | cartesian_trajectory_planner_B.T1j[7] = 0.0; |
| 3441 | cartesian_trajectory_planner_B.T1j[11] = 0.0; |
| 3442 | cartesian_trajectory_planner_B.T1j[15] = 1.0; |
| 3443 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 3444 | cartesian_trajectory_planner_B.b_kstr < 4; |
| 3445 | cartesian_trajectory_planner_B.b_kstr++) { |
| 3446 | for (cartesian_trajectory_planner_B.g = 0; |
| 3447 | cartesian_trajectory_planner_B.g < 4; |
| 3448 | cartesian_trajectory_planner_B.g++) { |
| 3449 | cartesian_trajectory_planner_B.jointSign = |
| 3450 | cartesian_trajectory_planner_B.g << 2; |
| 3451 | cartesian_trajectory_planner_B.loop_ub_n = |
| 3452 | cartesian_trajectory_planner_B.b_kstr + |
| 3453 | cartesian_trajectory_planner_B.jointSign; |
| 3454 | cartesian_trajectory_planner_B.Tc2p[cartesian_trajectory_planner_B.loop_ub_n] |
| 3455 | = 0.0; |
| 3456 | cartesian_trajectory_planner_B.Tc2p[cartesian_trajectory_planner_B.loop_ub_n] |
| 3457 | += |
| 3458 | cartesian_trajectory_planner_B.T1[cartesian_trajectory_planner_B.jointSign] |
| 3459 | * cartesian_trajectory_planner_B.T1j[cartesian_trajectory_planner_B.b_kstr]; |
| 3460 | cartesian_trajectory_planner_B.Tc2p[cartesian_trajectory_planner_B.loop_ub_n] |
| 3461 | += |
| 3462 | cartesian_trajectory_planner_B.T1[cartesian_trajectory_planner_B.jointSign |
| 3463 | + 1] * |
| 3464 | cartesian_trajectory_planner_B.T1j[cartesian_trajectory_planner_B.b_kstr |
| 3465 | + 4]; |
| 3466 | cartesian_trajectory_planner_B.Tc2p[cartesian_trajectory_planner_B.loop_ub_n] |
| 3467 | += |
| 3468 | cartesian_trajectory_planner_B.T1[cartesian_trajectory_planner_B.jointSign |
| 3469 | + 2] * |
| 3470 | cartesian_trajectory_planner_B.T1j[cartesian_trajectory_planner_B.b_kstr |
| 3471 | + 8]; |
| 3472 | cartesian_trajectory_planner_B.Tc2p[cartesian_trajectory_planner_B.loop_ub_n] |
| 3473 | += |
| 3474 | cartesian_trajectory_planner_B.T1[cartesian_trajectory_planner_B.jointSign |
| 3475 | + 3] * |
| 3476 | cartesian_trajectory_planner_B.T1j[cartesian_trajectory_planner_B.b_kstr |
| 3477 | + 12]; |
| 3478 | } |
| 3479 | } |
| 3480 | |
| 3481 | memcpy(&cartesian_trajectory_planner_B.T1[0], |
| 3482 | &cartesian_trajectory_planner_B.Tc2p[0], sizeof(real_T) << 4U); |
| 3483 | } |
| 3484 | } |
| 3485 | |
| 3486 | cartesian_trajec_emxFree_real_T(&b); |
| 3487 | cartesian_trajec_emxFree_char_T(&body2Name); |
| 3488 | cartesian_trajec_emxFree_real_T(&kinematicPathIndices); |
| 3489 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 3490 | cartesian_trajectory_planner_B.b_kstr < 3; |
| 3491 | cartesian_trajectory_planner_B.b_kstr++) { |
| 3492 | cartesian_trajectory_planner_B.b_i_f = cartesian_trajectory_planner_B.b_kstr |
| 3493 | << 2; |
| 3494 | cartesian_trajectory_planner_B.X[6 * cartesian_trajectory_planner_B.b_kstr] = |
| 3495 | cartesian_trajectory_planner_B.T1[cartesian_trajectory_planner_B.b_i_f]; |
| 3496 | cartesian_trajectory_planner_B.g = 6 * |
| 3497 | (cartesian_trajectory_planner_B.b_kstr + 3); |
| 3498 | cartesian_trajectory_planner_B.X[cartesian_trajectory_planner_B.g] = 0.0; |
| 3499 | cartesian_trajectory_planner_B.X[6 * cartesian_trajectory_planner_B.b_kstr + |
| 3500 | 3] = 0.0; |
| 3501 | cartesian_trajectory_planner_B.X[cartesian_trajectory_planner_B.g + 3] = |
| 3502 | cartesian_trajectory_planner_B.T1[cartesian_trajectory_planner_B.b_i_f]; |
| 3503 | cartesian_trajectory_planner_B.bid1 = |
| 3504 | cartesian_trajectory_planner_B.T1[cartesian_trajectory_planner_B.b_i_f + 1]; |
| 3505 | cartesian_trajectory_planner_B.X[6 * cartesian_trajectory_planner_B.b_kstr + |
| 3506 | 1] = cartesian_trajectory_planner_B.bid1; |
| 3507 | cartesian_trajectory_planner_B.X[cartesian_trajectory_planner_B.g + 1] = 0.0; |
| 3508 | cartesian_trajectory_planner_B.X[6 * cartesian_trajectory_planner_B.b_kstr + |
| 3509 | 4] = 0.0; |
| 3510 | cartesian_trajectory_planner_B.X[cartesian_trajectory_planner_B.g + 4] = |
| 3511 | cartesian_trajectory_planner_B.bid1; |
| 3512 | cartesian_trajectory_planner_B.bid1 = |
| 3513 | cartesian_trajectory_planner_B.T1[cartesian_trajectory_planner_B.b_i_f + 2]; |
| 3514 | cartesian_trajectory_planner_B.X[6 * cartesian_trajectory_planner_B.b_kstr + |
| 3515 | 2] = cartesian_trajectory_planner_B.bid1; |
| 3516 | cartesian_trajectory_planner_B.X[cartesian_trajectory_planner_B.g + 2] = 0.0; |
| 3517 | cartesian_trajectory_planner_B.X[6 * cartesian_trajectory_planner_B.b_kstr + |
| 3518 | 5] = 0.0; |
| 3519 | cartesian_trajectory_planner_B.X[cartesian_trajectory_planner_B.g + 5] = |
| 3520 | cartesian_trajectory_planner_B.bid1; |
| 3521 | } |
| 3522 | |
| 3523 | cartesian_trajectory_planner_B.n_c = Jac->size[1]; |
| 3524 | cartesian_trajectory_planner_B.b_kstr = y->size[0] * y->size[1]; |
| 3525 | y->size[0] = 6; |
| 3526 | y->size[1] = Jac->size[1]; |
| 3527 | cartes_emxEnsureCapacity_real_T(y, cartesian_trajectory_planner_B.b_kstr); |
| 3528 | cartesian_trajectory_planner_B.loop_ub_n = Jac->size[0] * Jac->size[1] - 1; |
| 3529 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 3530 | cartesian_trajectory_planner_B.b_kstr <= |
| 3531 | cartesian_trajectory_planner_B.loop_ub_n; |
| 3532 | cartesian_trajectory_planner_B.b_kstr++) { |
| 3533 | y->data[cartesian_trajectory_planner_B.b_kstr] = Jac-> |
| 3534 | data[cartesian_trajectory_planner_B.b_kstr]; |
| 3535 | } |
| 3536 | |
| 3537 | cartesian_trajectory_planner_B.b_kstr = Jac->size[0] * Jac->size[1]; |
| 3538 | Jac->size[0] = 6; |
| 3539 | Jac->size[1] = cartesian_trajectory_planner_B.n_c; |
| 3540 | cartes_emxEnsureCapacity_real_T(Jac, cartesian_trajectory_planner_B.b_kstr); |
| 3541 | for (cartesian_trajectory_planner_B.b_kstr = 0; |
| 3542 | cartesian_trajectory_planner_B.b_kstr < |
| 3543 | cartesian_trajectory_planner_B.n_c; cartesian_trajectory_planner_B.b_kstr |
| 3544 | ++) { |
| 3545 | cartesian_trajectory_planner_B.coffset_tmp = |
| 3546 | cartesian_trajectory_planner_B.b_kstr * 6 - 1; |
| 3547 | for (cartesian_trajectory_planner_B.b_i_f = 0; |
| 3548 | cartesian_trajectory_planner_B.b_i_f < 6; |
| 3549 | cartesian_trajectory_planner_B.b_i_f++) { |
| 3550 | cartesian_trajectory_planner_B.bid2 = 0.0; |
| 3551 | for (cartesian_trajectory_planner_B.loop_ub_n = 0; |
| 3552 | cartesian_trajectory_planner_B.loop_ub_n < 6; |
| 3553 | cartesian_trajectory_planner_B.loop_ub_n++) { |
| 3554 | cartesian_trajectory_planner_B.bid2 += |
| 3555 | cartesian_trajectory_planner_B.X[cartesian_trajectory_planner_B.loop_ub_n |
| 3556 | * 6 + cartesian_trajectory_planner_B.b_i_f] * y->data |
| 3557 | [(cartesian_trajectory_planner_B.coffset_tmp + |
| 3558 | cartesian_trajectory_planner_B.loop_ub_n) + 1]; |
| 3559 | } |
| 3560 | |
| 3561 | Jac->data[(cartesian_trajectory_planner_B.coffset_tmp + |
| 3562 | cartesian_trajectory_planner_B.b_i_f) + 1] = |
| 3563 | cartesian_trajectory_planner_B.bid2; |
| 3564 | } |
| 3565 | } |
| 3566 | |
| 3567 | cartesian_trajec_emxFree_real_T(&y); |
| 3568 | T_size[0] = 4; |
| 3569 | T_size[1] = 4; |
| 3570 | memcpy(&T_data[0], &cartesian_trajectory_planner_B.T1[0], sizeof(real_T) << 4U); |
| 3571 | } |
| 3572 | |
| 3573 | real_T rt_hypotd_snf(real_T u0, real_T u1) |
| 3574 | { |
| 3575 | real_T y; |
| 3576 | real_T a; |
| 3577 | a = fabs(u0); |
| 3578 | y = fabs(u1); |
| 3579 | if (a < y) { |
| 3580 | a /= y; |
| 3581 | y *= sqrt(a * a + 1.0); |
| 3582 | } else if (a > y) { |
| 3583 | y /= a; |
| 3584 | y = sqrt(y * y + 1.0) * a; |
| 3585 | } else { |
| 3586 | if (!rtIsNaN(y)) { |
| 3587 | y = a * 1.4142135623730951; |
| 3588 | } |
| 3589 | } |
| 3590 | |
| 3591 | return y; |
| 3592 | } |
| 3593 | |
| 3594 | static creal_T cartesian_trajectory_plann_sqrt(const creal_T x) |
| 3595 | { |
| 3596 | creal_T b_x; |
| 3597 | real_T absxr; |
| 3598 | real_T absxi; |
| 3599 | if (x.im == 0.0) { |
| 3600 | if (x.re < 0.0) { |
| 3601 | absxr = 0.0; |
| 3602 | absxi = sqrt(-x.re); |
| 3603 | } else { |
| 3604 | absxr = sqrt(x.re); |
| 3605 | absxi = 0.0; |
| 3606 | } |
| 3607 | } else if (x.re == 0.0) { |
| 3608 | if (x.im < 0.0) { |
| 3609 | absxr = sqrt(-x.im / 2.0); |
| 3610 | absxi = -absxr; |
| 3611 | } else { |
| 3612 | absxr = sqrt(x.im / 2.0); |
| 3613 | absxi = absxr; |
| 3614 | } |
| 3615 | } else if (rtIsNaN(x.re)) { |
| 3616 | absxr = x.re; |
| 3617 | absxi = x.re; |
| 3618 | } else if (rtIsNaN(x.im)) { |
| 3619 | absxr = x.im; |
| 3620 | absxi = x.im; |
| 3621 | } else if (rtIsInf(x.im)) { |
| 3622 | absxr = fabs(x.im); |
| 3623 | absxi = x.im; |
| 3624 | } else if (rtIsInf(x.re)) { |
| 3625 | if (x.re < 0.0) { |
| 3626 | absxr = 0.0; |
| 3627 | absxi = x.im * -x.re; |
| 3628 | } else { |
| 3629 | absxr = x.re; |
| 3630 | absxi = 0.0; |
| 3631 | } |
| 3632 | } else { |
| 3633 | absxr = fabs(x.re); |
| 3634 | absxi = fabs(x.im); |
| 3635 | if ((absxr > 4.4942328371557893E+307) || (absxi > 4.4942328371557893E+307)) |
| 3636 | { |
| 3637 | absxr *= 0.5; |
| 3638 | absxi *= 0.5; |
| 3639 | absxi = rt_hypotd_snf(absxr, absxi); |
| 3640 | if (absxi > absxr) { |
| 3641 | absxr = sqrt(absxr / absxi + 1.0) * sqrt(absxi); |
| 3642 | } else { |
| 3643 | absxr = sqrt(absxi) * 1.4142135623730951; |
| 3644 | } |
| 3645 | } else { |
| 3646 | absxr = sqrt((rt_hypotd_snf(absxr, absxi) + absxr) * 0.5); |
| 3647 | } |
| 3648 | |
| 3649 | if (x.re > 0.0) { |
| 3650 | absxi = x.im / absxr * 0.5; |
| 3651 | } else { |
| 3652 | if (x.im < 0.0) { |
| 3653 | absxi = -absxr; |
| 3654 | } else { |
| 3655 | absxi = absxr; |
| 3656 | } |
| 3657 | |
| 3658 | absxr = x.im / absxi * 0.5; |
| 3659 | } |
| 3660 | } |
| 3661 | |
| 3662 | b_x.re = absxr; |
| 3663 | b_x.im = absxi; |
| 3664 | return b_x; |
| 3665 | } |
| 3666 | |
| 3667 | real_T rt_atan2d_snf(real_T u0, real_T u1) |
| 3668 | { |
| 3669 | real_T y; |
| 3670 | int32_T u0_0; |
| 3671 | int32_T u1_0; |
| 3672 | if (rtIsNaN(u0) || rtIsNaN(u1)) { |
| 3673 | y = (rtNaN); |
| 3674 | } else if (rtIsInf(u0) && rtIsInf(u1)) { |
| 3675 | if (u0 > 0.0) { |
| 3676 | u0_0 = 1; |
| 3677 | } else { |
| 3678 | u0_0 = -1; |
| 3679 | } |
| 3680 | |
| 3681 | if (u1 > 0.0) { |
| 3682 | u1_0 = 1; |
| 3683 | } else { |
| 3684 | u1_0 = -1; |
| 3685 | } |
| 3686 | |
| 3687 | y = atan2(static_cast<real_T>(u0_0), static_cast<real_T>(u1_0)); |
| 3688 | } else if (u1 == 0.0) { |
| 3689 | if (u0 > 0.0) { |
| 3690 | y = RT_PI / 2.0; |
| 3691 | } else if (u0 < 0.0) { |
| 3692 | y = -(RT_PI / 2.0); |
| 3693 | } else { |
| 3694 | y = 0.0; |
| 3695 | } |
| 3696 | } else { |
| 3697 | y = atan2(u0, u1); |
| 3698 | } |
| 3699 | |
| 3700 | return y; |
| 3701 | } |
| 3702 | |
| 3703 | static real_T cartesian_trajectory_plan_xnrm2(int32_T n, const real_T x[9], |
| 3704 | int32_T ix0) |
| 3705 | { |
| 3706 | real_T y; |
| 3707 | real_T scale; |
| 3708 | int32_T kend; |
| 3709 | real_T absxk; |
| 3710 | real_T t; |
| 3711 | int32_T k; |
| 3712 | y = 0.0; |
| 3713 | scale = 3.3121686421112381E-170; |
| 3714 | kend = ix0 + n; |
| 3715 | for (k = ix0; k < kend; k++) { |
| 3716 | absxk = fabs(x[k - 1]); |
| 3717 | if (absxk > scale) { |
| 3718 | t = scale / absxk; |
| 3719 | y = y * t * t + 1.0; |
| 3720 | scale = absxk; |
| 3721 | } else { |
| 3722 | t = absxk / scale; |
| 3723 | y += t * t; |
| 3724 | } |
| 3725 | } |
| 3726 | |
| 3727 | return scale * sqrt(y); |
| 3728 | } |
| 3729 | |
| 3730 | static real_T cartesian_trajectory_plan_xdotc(int32_T n, const real_T x[9], |
| 3731 | int32_T ix0, const real_T y[9], int32_T iy0) |
| 3732 | { |
| 3733 | real_T d; |
| 3734 | int32_T ix; |
| 3735 | int32_T iy; |
| 3736 | int32_T k; |
| 3737 | d = 0.0; |
| 3738 | ix = ix0 - 1; |
| 3739 | iy = iy0 - 1; |
| 3740 | for (k = 0; k < n; k++) { |
| 3741 | d += x[ix] * y[iy]; |
| 3742 | ix++; |
| 3743 | iy++; |
| 3744 | } |
| 3745 | |
| 3746 | return d; |
| 3747 | } |
| 3748 | |
| 3749 | static void cartesian_trajectory_plan_xaxpy(int32_T n, real_T a, int32_T ix0, |
| 3750 | const real_T y[9], int32_T iy0, real_T b_y[9]) |
| 3751 | { |
| 3752 | int32_T ix; |
| 3753 | int32_T iy; |
| 3754 | int32_T k; |
| 3755 | memcpy(&b_y[0], &y[0], 9U * sizeof(real_T)); |
| 3756 | if (!(a == 0.0)) { |
| 3757 | ix = ix0; |
| 3758 | iy = iy0 - 1; |
| 3759 | for (k = 0; k < n; k++) { |
| 3760 | b_y[iy] += b_y[ix - 1] * a; |
| 3761 | ix++; |
| 3762 | iy++; |
| 3763 | } |
| 3764 | } |
| 3765 | } |
| 3766 | |
| 3767 | static real_T cartesian_trajectory_pl_xnrm2_a(const real_T x[3], int32_T ix0) |
| 3768 | { |
| 3769 | real_T y; |
| 3770 | real_T scale; |
| 3771 | real_T absxk; |
| 3772 | real_T t; |
| 3773 | int32_T k; |
| 3774 | y = 0.0; |
| 3775 | scale = 3.3121686421112381E-170; |
| 3776 | for (k = ix0; k <= ix0 + 1; k++) { |
| 3777 | absxk = fabs(x[k - 1]); |
| 3778 | if (absxk > scale) { |
| 3779 | t = scale / absxk; |
| 3780 | y = y * t * t + 1.0; |
| 3781 | scale = absxk; |
| 3782 | } else { |
| 3783 | t = absxk / scale; |
| 3784 | y += t * t; |
| 3785 | } |
| 3786 | } |
| 3787 | |
| 3788 | return scale * sqrt(y); |
| 3789 | } |
| 3790 | |
| 3791 | static void cartesian_trajectory__xaxpy_ast(int32_T n, real_T a, const real_T x |
| 3792 | [9], int32_T ix0, real_T y[3], int32_T iy0) |
| 3793 | { |
| 3794 | int32_T ix; |
| 3795 | int32_T iy; |
| 3796 | int32_T k; |
| 3797 | if (!(a == 0.0)) { |
| 3798 | ix = ix0; |
| 3799 | iy = iy0 - 1; |
| 3800 | for (k = 0; k < n; k++) { |
| 3801 | y[iy] += x[ix - 1] * a; |
| 3802 | ix++; |
| 3803 | iy++; |
| 3804 | } |
| 3805 | } |
| 3806 | } |
| 3807 | |
| 3808 | static void cartesian_trajectory_p_xaxpy_as(int32_T n, real_T a, const real_T x |
| 3809 | [3], int32_T ix0, const real_T y[9], int32_T iy0, real_T b_y[9]) |
| 3810 | { |
| 3811 | int32_T ix; |
| 3812 | int32_T iy; |
| 3813 | int32_T k; |
| 3814 | memcpy(&b_y[0], &y[0], 9U * sizeof(real_T)); |
| 3815 | if (!(a == 0.0)) { |
| 3816 | ix = ix0; |
| 3817 | iy = iy0 - 1; |
| 3818 | for (k = 0; k < n; k++) { |
| 3819 | b_y[iy] += x[ix - 1] * a; |
| 3820 | ix++; |
| 3821 | iy++; |
| 3822 | } |
| 3823 | } |
| 3824 | } |
| 3825 | |
| 3826 | static void cartesian_trajectory_plan_xswap(const real_T x[9], int32_T ix0, |
| 3827 | int32_T iy0, real_T b_x[9]) |
| 3828 | { |
| 3829 | int32_T ix; |
| 3830 | int32_T iy; |
| 3831 | real_T temp; |
| 3832 | memcpy(&b_x[0], &x[0], 9U * sizeof(real_T)); |
| 3833 | ix = ix0 - 1; |
| 3834 | iy = iy0 - 1; |
| 3835 | temp = b_x[ix]; |
| 3836 | b_x[ix] = b_x[iy]; |
| 3837 | b_x[iy] = temp; |
| 3838 | ix++; |
| 3839 | iy++; |
| 3840 | temp = b_x[ix]; |
| 3841 | b_x[ix] = b_x[iy]; |
| 3842 | b_x[iy] = temp; |
| 3843 | ix++; |
| 3844 | iy++; |
| 3845 | temp = b_x[ix]; |
| 3846 | b_x[ix] = b_x[iy]; |
| 3847 | b_x[iy] = temp; |
| 3848 | } |
| 3849 | |
| 3850 | static void cartesian_trajectory_plan_xrotg(real_T a, real_T b, real_T *b_a, |
| 3851 | real_T *b_b, real_T *c, real_T *s) |
| 3852 | { |
| 3853 | cartesian_trajectory_planner_B.roe = b; |
| 3854 | cartesian_trajectory_planner_B.absa = fabs(a); |
| 3855 | cartesian_trajectory_planner_B.absb = fabs(b); |
| 3856 | if (cartesian_trajectory_planner_B.absa > cartesian_trajectory_planner_B.absb) |
| 3857 | { |
| 3858 | cartesian_trajectory_planner_B.roe = a; |
| 3859 | } |
| 3860 | |
| 3861 | cartesian_trajectory_planner_B.scale = cartesian_trajectory_planner_B.absa + |
| 3862 | cartesian_trajectory_planner_B.absb; |
| 3863 | if (cartesian_trajectory_planner_B.scale == 0.0) { |
| 3864 | *s = 0.0; |
| 3865 | *c = 1.0; |
| 3866 | *b_a = 0.0; |
| 3867 | *b_b = 0.0; |
| 3868 | } else { |
| 3869 | cartesian_trajectory_planner_B.ads = cartesian_trajectory_planner_B.absa / |
| 3870 | cartesian_trajectory_planner_B.scale; |
| 3871 | cartesian_trajectory_planner_B.bds = cartesian_trajectory_planner_B.absb / |
| 3872 | cartesian_trajectory_planner_B.scale; |
| 3873 | *b_a = sqrt(cartesian_trajectory_planner_B.ads * |
| 3874 | cartesian_trajectory_planner_B.ads + |
| 3875 | cartesian_trajectory_planner_B.bds * |
| 3876 | cartesian_trajectory_planner_B.bds) * |
| 3877 | cartesian_trajectory_planner_B.scale; |
| 3878 | if (cartesian_trajectory_planner_B.roe < 0.0) { |
| 3879 | *b_a = -*b_a; |
| 3880 | } |
| 3881 | |
| 3882 | *c = a / *b_a; |
| 3883 | *s = b / *b_a; |
| 3884 | if (cartesian_trajectory_planner_B.absa > |
| 3885 | cartesian_trajectory_planner_B.absb) { |
| 3886 | *b_b = *s; |
| 3887 | } else if (*c != 0.0) { |
| 3888 | *b_b = 1.0 / *c; |
| 3889 | } else { |
| 3890 | *b_b = 1.0; |
| 3891 | } |
| 3892 | } |
| 3893 | } |
| 3894 | |
| 3895 | static void cartesian_trajectory_plann_xrot(const real_T x[9], int32_T ix0, |
| 3896 | int32_T iy0, real_T c, real_T s, real_T b_x[9]) |
| 3897 | { |
| 3898 | int32_T ix; |
| 3899 | int32_T iy; |
| 3900 | real_T temp; |
| 3901 | memcpy(&b_x[0], &x[0], 9U * sizeof(real_T)); |
| 3902 | ix = ix0 - 1; |
| 3903 | iy = iy0 - 1; |
| 3904 | temp = c * b_x[ix] + s * b_x[iy]; |
| 3905 | b_x[iy] = c * b_x[iy] - s * b_x[ix]; |
| 3906 | b_x[ix] = temp; |
| 3907 | iy++; |
| 3908 | ix++; |
| 3909 | temp = c * b_x[ix] + s * b_x[iy]; |
| 3910 | b_x[iy] = c * b_x[iy] - s * b_x[ix]; |
| 3911 | b_x[ix] = temp; |
| 3912 | iy++; |
| 3913 | ix++; |
| 3914 | temp = c * b_x[ix] + s * b_x[iy]; |
| 3915 | b_x[iy] = c * b_x[iy] - s * b_x[ix]; |
| 3916 | b_x[ix] = temp; |
| 3917 | } |
| 3918 | |
| 3919 | static void cartesian_trajectory_planne_svd(const real_T A[9], real_T U[9], |
| 3920 | real_T s[3], real_T V[9]) |
| 3921 | { |
| 3922 | int32_T qq; |
| 3923 | boolean_T apply_transform; |
| 3924 | int32_T qjj; |
| 3925 | int32_T m; |
| 3926 | int32_T kase; |
| 3927 | int32_T c_q; |
| 3928 | int32_T d_k; |
| 3929 | boolean_T exitg1; |
| 3930 | cartesian_trajectory_planner_B.e_j[0] = 0.0; |
| 3931 | cartesian_trajectory_planner_B.work[0] = 0.0; |
| 3932 | cartesian_trajectory_planner_B.e_j[1] = 0.0; |
| 3933 | cartesian_trajectory_planner_B.work[1] = 0.0; |
| 3934 | cartesian_trajectory_planner_B.e_j[2] = 0.0; |
| 3935 | cartesian_trajectory_planner_B.work[2] = 0.0; |
| 3936 | for (m = 0; m < 9; m++) { |
| 3937 | cartesian_trajectory_planner_B.A[m] = A[m]; |
| 3938 | U[m] = 0.0; |
| 3939 | V[m] = 0.0; |
| 3940 | } |
| 3941 | |
| 3942 | apply_transform = false; |
| 3943 | cartesian_trajectory_planner_B.nrm = cartesian_trajectory_plan_xnrm2(3, |
| 3944 | cartesian_trajectory_planner_B.A, 1); |
| 3945 | if (cartesian_trajectory_planner_B.nrm > 0.0) { |
| 3946 | apply_transform = true; |
| 3947 | if (cartesian_trajectory_planner_B.A[0] < 0.0) { |
| 3948 | cartesian_trajectory_planner_B.s[0] = -cartesian_trajectory_planner_B.nrm; |
| 3949 | } else { |
| 3950 | cartesian_trajectory_planner_B.s[0] = cartesian_trajectory_planner_B.nrm; |
| 3951 | } |
| 3952 | |
| 3953 | if (fabs(cartesian_trajectory_planner_B.s[0]) >= 1.0020841800044864E-292) { |
| 3954 | cartesian_trajectory_planner_B.nrm = 1.0 / |
| 3955 | cartesian_trajectory_planner_B.s[0]; |
| 3956 | for (qq = 1; qq < 4; qq++) { |
| 3957 | cartesian_trajectory_planner_B.A[qq - 1] *= |
| 3958 | cartesian_trajectory_planner_B.nrm; |
| 3959 | } |
| 3960 | } else { |
| 3961 | for (qq = 1; qq < 4; qq++) { |
| 3962 | cartesian_trajectory_planner_B.A[qq - 1] /= |
| 3963 | cartesian_trajectory_planner_B.s[0]; |
| 3964 | } |
| 3965 | } |
| 3966 | |
| 3967 | cartesian_trajectory_planner_B.A[0]++; |
| 3968 | cartesian_trajectory_planner_B.s[0] = -cartesian_trajectory_planner_B.s[0]; |
| 3969 | } else { |
| 3970 | cartesian_trajectory_planner_B.s[0] = 0.0; |
| 3971 | } |
| 3972 | |
| 3973 | for (m = 2; m < 4; m++) { |
| 3974 | qjj = (m - 1) * 3 + 1; |
| 3975 | if (apply_transform) { |
| 3976 | memcpy(&cartesian_trajectory_planner_B.A_e[0], |
| 3977 | &cartesian_trajectory_planner_B.A[0], 9U * sizeof(real_T)); |
| 3978 | cartesian_trajectory_plan_xaxpy(3, -(cartesian_trajectory_plan_xdotc(3, |
| 3979 | cartesian_trajectory_planner_B.A, 1, cartesian_trajectory_planner_B.A, |
| 3980 | qjj) / cartesian_trajectory_planner_B.A[0]), 1, |
| 3981 | cartesian_trajectory_planner_B.A_e, qjj, |
| 3982 | cartesian_trajectory_planner_B.A); |
| 3983 | } |
| 3984 | |
| 3985 | cartesian_trajectory_planner_B.e_j[m - 1] = |
| 3986 | cartesian_trajectory_planner_B.A[qjj - 1]; |
| 3987 | } |
| 3988 | |
| 3989 | for (m = 1; m < 4; m++) { |
| 3990 | U[m - 1] = cartesian_trajectory_planner_B.A[m - 1]; |
| 3991 | } |
| 3992 | |
| 3993 | cartesian_trajectory_planner_B.nrm = cartesian_trajectory_pl_xnrm2_a |
| 3994 | (cartesian_trajectory_planner_B.e_j, 2); |
| 3995 | if (cartesian_trajectory_planner_B.nrm == 0.0) { |
| 3996 | cartesian_trajectory_planner_B.e_j[0] = 0.0; |
| 3997 | } else { |
| 3998 | if (cartesian_trajectory_planner_B.e_j[1] < 0.0) { |
| 3999 | cartesian_trajectory_planner_B.rt = -cartesian_trajectory_planner_B.nrm; |
| 4000 | cartesian_trajectory_planner_B.e_j[0] = |
| 4001 | -cartesian_trajectory_planner_B.nrm; |
| 4002 | } else { |
| 4003 | cartesian_trajectory_planner_B.rt = cartesian_trajectory_planner_B.nrm; |
| 4004 | cartesian_trajectory_planner_B.e_j[0] = cartesian_trajectory_planner_B.nrm; |
| 4005 | } |
| 4006 | |
| 4007 | if (fabs(cartesian_trajectory_planner_B.rt) >= 1.0020841800044864E-292) { |
| 4008 | cartesian_trajectory_planner_B.nrm = 1.0 / |
| 4009 | cartesian_trajectory_planner_B.rt; |
| 4010 | for (qq = 2; qq < 4; qq++) { |
| 4011 | cartesian_trajectory_planner_B.e_j[qq - 1] *= |
| 4012 | cartesian_trajectory_planner_B.nrm; |
| 4013 | } |
| 4014 | } else { |
| 4015 | for (qq = 2; qq < 4; qq++) { |
| 4016 | cartesian_trajectory_planner_B.e_j[qq - 1] /= |
| 4017 | cartesian_trajectory_planner_B.rt; |
| 4018 | } |
| 4019 | } |
| 4020 | |
| 4021 | cartesian_trajectory_planner_B.e_j[1]++; |
| 4022 | cartesian_trajectory_planner_B.e_j[0] = -cartesian_trajectory_planner_B.e_j |
| 4023 | [0]; |
| 4024 | for (m = 2; m < 4; m++) { |
| 4025 | cartesian_trajectory_planner_B.work[m - 1] = 0.0; |
| 4026 | } |
| 4027 | |
| 4028 | for (m = 2; m < 4; m++) { |
| 4029 | cartesian_trajectory__xaxpy_ast(2, cartesian_trajectory_planner_B.e_j[m - |
| 4030 | 1], cartesian_trajectory_planner_B.A, 3 * (m - 1) + 2, |
| 4031 | cartesian_trajectory_planner_B.work, 2); |
| 4032 | } |
| 4033 | |
| 4034 | for (m = 2; m < 4; m++) { |
| 4035 | memcpy(&cartesian_trajectory_planner_B.A_e[0], |
| 4036 | &cartesian_trajectory_planner_B.A[0], 9U * sizeof(real_T)); |
| 4037 | cartesian_trajectory_p_xaxpy_as(2, -cartesian_trajectory_planner_B.e_j[m - |
| 4038 | 1] / cartesian_trajectory_planner_B.e_j[1], |
| 4039 | cartesian_trajectory_planner_B.work, 2, |
| 4040 | cartesian_trajectory_planner_B.A_e, (m - 1) * 3 + 2, |
| 4041 | cartesian_trajectory_planner_B.A); |
| 4042 | } |
| 4043 | } |
| 4044 | |
| 4045 | for (m = 2; m < 4; m++) { |
| 4046 | V[m - 1] = cartesian_trajectory_planner_B.e_j[m - 1]; |
| 4047 | } |
| 4048 | |
| 4049 | apply_transform = false; |
| 4050 | cartesian_trajectory_planner_B.nrm = cartesian_trajectory_plan_xnrm2(2, |
| 4051 | cartesian_trajectory_planner_B.A, 5); |
| 4052 | if (cartesian_trajectory_planner_B.nrm > 0.0) { |
| 4053 | apply_transform = true; |
| 4054 | if (cartesian_trajectory_planner_B.A[4] < 0.0) { |
| 4055 | cartesian_trajectory_planner_B.s[1] = -cartesian_trajectory_planner_B.nrm; |
| 4056 | } else { |
| 4057 | cartesian_trajectory_planner_B.s[1] = cartesian_trajectory_planner_B.nrm; |
| 4058 | } |
| 4059 | |
| 4060 | if (fabs(cartesian_trajectory_planner_B.s[1]) >= 1.0020841800044864E-292) { |
| 4061 | cartesian_trajectory_planner_B.nrm = 1.0 / |
| 4062 | cartesian_trajectory_planner_B.s[1]; |
| 4063 | for (qq = 5; qq < 7; qq++) { |
| 4064 | cartesian_trajectory_planner_B.A[qq - 1] *= |
| 4065 | cartesian_trajectory_planner_B.nrm; |
| 4066 | } |
| 4067 | } else { |
| 4068 | for (qq = 5; qq < 7; qq++) { |
| 4069 | cartesian_trajectory_planner_B.A[qq - 1] /= |
| 4070 | cartesian_trajectory_planner_B.s[1]; |
| 4071 | } |
| 4072 | } |
| 4073 | |
| 4074 | cartesian_trajectory_planner_B.A[4]++; |
| 4075 | cartesian_trajectory_planner_B.s[1] = -cartesian_trajectory_planner_B.s[1]; |
| 4076 | } else { |
| 4077 | cartesian_trajectory_planner_B.s[1] = 0.0; |
| 4078 | } |
| 4079 | |
| 4080 | if (apply_transform) { |
| 4081 | for (m = 3; m < 4; m++) { |
| 4082 | memcpy(&cartesian_trajectory_planner_B.A_e[0], |
| 4083 | &cartesian_trajectory_planner_B.A[0], 9U * sizeof(real_T)); |
| 4084 | cartesian_trajectory_plan_xaxpy(2, -(cartesian_trajectory_plan_xdotc(2, |
| 4085 | cartesian_trajectory_planner_B.A, 5, cartesian_trajectory_planner_B.A, 8) |
| 4086 | / cartesian_trajectory_planner_B.A[4]), 5, |
| 4087 | cartesian_trajectory_planner_B.A_e, 8, cartesian_trajectory_planner_B.A); |
| 4088 | } |
| 4089 | } |
| 4090 | |
| 4091 | for (m = 2; m < 4; m++) { |
| 4092 | U[m + 2] = cartesian_trajectory_planner_B.A[m + 2]; |
| 4093 | } |
| 4094 | |
| 4095 | m = 2; |
| 4096 | cartesian_trajectory_planner_B.s[2] = cartesian_trajectory_planner_B.A[8]; |
| 4097 | cartesian_trajectory_planner_B.e_j[1] = cartesian_trajectory_planner_B.A[7]; |
| 4098 | cartesian_trajectory_planner_B.e_j[2] = 0.0; |
| 4099 | U[6] = 0.0; |
| 4100 | U[7] = 0.0; |
| 4101 | U[8] = 1.0; |
| 4102 | for (c_q = 1; c_q >= 0; c_q--) { |
| 4103 | qq = 3 * c_q + c_q; |
| 4104 | if (cartesian_trajectory_planner_B.s[c_q] != 0.0) { |
| 4105 | for (kase = c_q + 2; kase < 4; kase++) { |
| 4106 | qjj = ((kase - 1) * 3 + c_q) + 1; |
| 4107 | memcpy(&cartesian_trajectory_planner_B.A[0], &U[0], 9U * sizeof(real_T)); |
| 4108 | cartesian_trajectory_plan_xaxpy(3 - c_q, |
| 4109 | -(cartesian_trajectory_plan_xdotc(3 - c_q, U, qq + 1, U, qjj) / U[qq]), |
| 4110 | qq + 1, cartesian_trajectory_planner_B.A, qjj, U); |
| 4111 | } |
| 4112 | |
| 4113 | for (qjj = c_q + 1; qjj < 4; qjj++) { |
| 4114 | kase = (3 * c_q + qjj) - 1; |
| 4115 | U[kase] = -U[kase]; |
| 4116 | } |
| 4117 | |
| 4118 | U[qq]++; |
| 4119 | if (0 <= c_q - 1) { |
| 4120 | U[3 * c_q] = 0.0; |
| 4121 | } |
| 4122 | } else { |
| 4123 | U[3 * c_q] = 0.0; |
| 4124 | U[3 * c_q + 1] = 0.0; |
| 4125 | U[3 * c_q + 2] = 0.0; |
| 4126 | U[qq] = 1.0; |
| 4127 | } |
| 4128 | } |
| 4129 | |
| 4130 | for (c_q = 2; c_q >= 0; c_q--) { |
| 4131 | if ((c_q + 1 <= 1) && (cartesian_trajectory_planner_B.e_j[0] != 0.0)) { |
| 4132 | memcpy(&cartesian_trajectory_planner_B.A[0], &V[0], 9U * sizeof(real_T)); |
| 4133 | cartesian_trajectory_plan_xaxpy(2, -(cartesian_trajectory_plan_xdotc(2, V, |
| 4134 | 2, V, 5) / V[1]), 2, cartesian_trajectory_planner_B.A, 5, V); |
| 4135 | memcpy(&cartesian_trajectory_planner_B.A[0], &V[0], 9U * sizeof(real_T)); |
| 4136 | cartesian_trajectory_plan_xaxpy(2, -(cartesian_trajectory_plan_xdotc(2, V, |
| 4137 | 2, V, 8) / V[1]), 2, cartesian_trajectory_planner_B.A, 8, V); |
| 4138 | } |
| 4139 | |
| 4140 | V[3 * c_q] = 0.0; |
| 4141 | V[3 * c_q + 1] = 0.0; |
| 4142 | V[3 * c_q + 2] = 0.0; |
| 4143 | V[c_q + 3 * c_q] = 1.0; |
| 4144 | } |
| 4145 | |
| 4146 | for (c_q = 0; c_q < 3; c_q++) { |
| 4147 | cartesian_trajectory_planner_B.ztest = |
| 4148 | cartesian_trajectory_planner_B.e_j[c_q]; |
| 4149 | if (cartesian_trajectory_planner_B.s[c_q] != 0.0) { |
| 4150 | cartesian_trajectory_planner_B.rt = fabs |
| 4151 | (cartesian_trajectory_planner_B.s[c_q]); |
| 4152 | cartesian_trajectory_planner_B.nrm = cartesian_trajectory_planner_B.s[c_q] |
| 4153 | / cartesian_trajectory_planner_B.rt; |
| 4154 | cartesian_trajectory_planner_B.s[c_q] = cartesian_trajectory_planner_B.rt; |
| 4155 | if (c_q + 1 < 3) { |
| 4156 | cartesian_trajectory_planner_B.ztest = |
| 4157 | cartesian_trajectory_planner_B.e_j[c_q] / |
| 4158 | cartesian_trajectory_planner_B.nrm; |
| 4159 | } |
| 4160 | |
| 4161 | qjj = 3 * c_q; |
| 4162 | for (qq = qjj + 1; qq <= qjj + 3; qq++) { |
| 4163 | U[qq - 1] *= cartesian_trajectory_planner_B.nrm; |
| 4164 | } |
| 4165 | } |
| 4166 | |
| 4167 | if ((c_q + 1 < 3) && (cartesian_trajectory_planner_B.ztest != 0.0)) { |
| 4168 | cartesian_trajectory_planner_B.rt = fabs |
| 4169 | (cartesian_trajectory_planner_B.ztest); |
| 4170 | cartesian_trajectory_planner_B.nrm = cartesian_trajectory_planner_B.rt / |
| 4171 | cartesian_trajectory_planner_B.ztest; |
| 4172 | cartesian_trajectory_planner_B.ztest = cartesian_trajectory_planner_B.rt; |
| 4173 | cartesian_trajectory_planner_B.s[c_q + 1] *= |
| 4174 | cartesian_trajectory_planner_B.nrm; |
| 4175 | qjj = (c_q + 1) * 3; |
| 4176 | for (qq = qjj + 1; qq <= qjj + 3; qq++) { |
| 4177 | V[qq - 1] *= cartesian_trajectory_planner_B.nrm; |
| 4178 | } |
| 4179 | } |
| 4180 | |
| 4181 | cartesian_trajectory_planner_B.e_j[c_q] = |
| 4182 | cartesian_trajectory_planner_B.ztest; |
| 4183 | } |
| 4184 | |
| 4185 | qq = 0; |
| 4186 | cartesian_trajectory_planner_B.nrm = 0.0; |
| 4187 | cartesian_trajectory_planner_B.ztest = fabs(cartesian_trajectory_planner_B.s[0]); |
| 4188 | cartesian_trajectory_planner_B.rt = fabs(cartesian_trajectory_planner_B.e_j[0]); |
| 4189 | if ((cartesian_trajectory_planner_B.ztest > cartesian_trajectory_planner_B.rt) |
| 4190 | || rtIsNaN(cartesian_trajectory_planner_B.rt)) { |
| 4191 | cartesian_trajectory_planner_B.rt = cartesian_trajectory_planner_B.ztest; |
| 4192 | } |
| 4193 | |
| 4194 | if (!rtIsNaN(cartesian_trajectory_planner_B.rt)) { |
| 4195 | cartesian_trajectory_planner_B.nrm = cartesian_trajectory_planner_B.rt; |
| 4196 | } |
| 4197 | |
| 4198 | cartesian_trajectory_planner_B.ztest = fabs(cartesian_trajectory_planner_B.s[1]); |
| 4199 | cartesian_trajectory_planner_B.rt = fabs(cartesian_trajectory_planner_B.e_j[1]); |
| 4200 | if ((cartesian_trajectory_planner_B.ztest > cartesian_trajectory_planner_B.rt) |
| 4201 | || rtIsNaN(cartesian_trajectory_planner_B.rt)) { |
| 4202 | cartesian_trajectory_planner_B.rt = cartesian_trajectory_planner_B.ztest; |
| 4203 | } |
| 4204 | |
| 4205 | if ((!(cartesian_trajectory_planner_B.nrm > cartesian_trajectory_planner_B.rt)) |
| 4206 | && (!rtIsNaN(cartesian_trajectory_planner_B.rt))) { |
| 4207 | cartesian_trajectory_planner_B.nrm = cartesian_trajectory_planner_B.rt; |
| 4208 | } |
| 4209 | |
| 4210 | cartesian_trajectory_planner_B.ztest = fabs(cartesian_trajectory_planner_B.s[2]); |
| 4211 | cartesian_trajectory_planner_B.rt = fabs(cartesian_trajectory_planner_B.e_j[2]); |
| 4212 | if ((cartesian_trajectory_planner_B.ztest > cartesian_trajectory_planner_B.rt) |
| 4213 | || rtIsNaN(cartesian_trajectory_planner_B.rt)) { |
| 4214 | cartesian_trajectory_planner_B.rt = cartesian_trajectory_planner_B.ztest; |
| 4215 | } |
| 4216 | |
| 4217 | if ((!(cartesian_trajectory_planner_B.nrm > cartesian_trajectory_planner_B.rt)) |
| 4218 | && (!rtIsNaN(cartesian_trajectory_planner_B.rt))) { |
| 4219 | cartesian_trajectory_planner_B.nrm = cartesian_trajectory_planner_B.rt; |
| 4220 | } |
| 4221 | |
| 4222 | while ((m + 1 > 0) && (!(qq >= 75))) { |
| 4223 | c_q = m; |
| 4224 | qjj = m; |
| 4225 | exitg1 = false; |
| 4226 | while ((!exitg1) && (qjj > -1)) { |
| 4227 | c_q = qjj; |
| 4228 | if (qjj == 0) { |
| 4229 | exitg1 = true; |
| 4230 | } else { |
| 4231 | cartesian_trajectory_planner_B.rt = fabs |
| 4232 | (cartesian_trajectory_planner_B.e_j[qjj - 1]); |
| 4233 | if ((cartesian_trajectory_planner_B.rt <= (fabs |
| 4234 | (cartesian_trajectory_planner_B.s[qjj - 1]) + fabs |
| 4235 | (cartesian_trajectory_planner_B.s[qjj])) * 2.2204460492503131E-16) |
| 4236 | || (cartesian_trajectory_planner_B.rt <= 1.0020841800044864E-292) || |
| 4237 | ((qq > 20) && (cartesian_trajectory_planner_B.rt <= |
| 4238 | 2.2204460492503131E-16 * |
| 4239 | cartesian_trajectory_planner_B.nrm))) { |
| 4240 | cartesian_trajectory_planner_B.e_j[qjj - 1] = 0.0; |
| 4241 | exitg1 = true; |
| 4242 | } else { |
| 4243 | qjj--; |
| 4244 | } |
| 4245 | } |
| 4246 | } |
| 4247 | |
| 4248 | if (c_q == m) { |
| 4249 | kase = 4; |
| 4250 | } else { |
| 4251 | qjj = m + 1; |
| 4252 | kase = m + 1; |
| 4253 | exitg1 = false; |
| 4254 | while ((!exitg1) && (kase >= c_q)) { |
| 4255 | qjj = kase; |
| 4256 | if (kase == c_q) { |
| 4257 | exitg1 = true; |
| 4258 | } else { |
| 4259 | cartesian_trajectory_planner_B.rt = 0.0; |
| 4260 | if (kase < m + 1) { |
| 4261 | cartesian_trajectory_planner_B.rt = fabs |
| 4262 | (cartesian_trajectory_planner_B.e_j[kase - 1]); |
| 4263 | } |
| 4264 | |
| 4265 | if (kase > c_q + 1) { |
| 4266 | cartesian_trajectory_planner_B.rt += fabs |
| 4267 | (cartesian_trajectory_planner_B.e_j[kase - 2]); |
| 4268 | } |
| 4269 | |
| 4270 | cartesian_trajectory_planner_B.ztest = fabs |
| 4271 | (cartesian_trajectory_planner_B.s[kase - 1]); |
| 4272 | if ((cartesian_trajectory_planner_B.ztest <= 2.2204460492503131E-16 * |
| 4273 | cartesian_trajectory_planner_B.rt) || |
| 4274 | (cartesian_trajectory_planner_B.ztest <= 1.0020841800044864E-292)) |
| 4275 | { |
| 4276 | cartesian_trajectory_planner_B.s[kase - 1] = 0.0; |
| 4277 | exitg1 = true; |
| 4278 | } else { |
| 4279 | kase--; |
| 4280 | } |
| 4281 | } |
| 4282 | } |
| 4283 | |
| 4284 | if (qjj == c_q) { |
| 4285 | kase = 3; |
| 4286 | } else if (m + 1 == qjj) { |
| 4287 | kase = 1; |
| 4288 | } else { |
| 4289 | kase = 2; |
| 4290 | c_q = qjj; |
| 4291 | } |
| 4292 | } |
| 4293 | |
| 4294 | switch (kase) { |
| 4295 | case 1: |
| 4296 | cartesian_trajectory_planner_B.rt = cartesian_trajectory_planner_B.e_j[m - |
| 4297 | 1]; |
| 4298 | cartesian_trajectory_planner_B.e_j[m - 1] = 0.0; |
| 4299 | for (qjj = m; qjj >= c_q + 1; qjj--) { |
| 4300 | cartesian_trajectory_planner_B.ztest = |
| 4301 | cartesian_trajectory_planner_B.e_j[0]; |
| 4302 | cartesian_trajectory_plan_xrotg(cartesian_trajectory_planner_B.s[qjj - 1], |
| 4303 | cartesian_trajectory_planner_B.rt, |
| 4304 | &cartesian_trajectory_planner_B.s[qjj - 1], |
| 4305 | &cartesian_trajectory_planner_B.rt, |
| 4306 | &cartesian_trajectory_planner_B.sqds, |
| 4307 | &cartesian_trajectory_planner_B.b_ob); |
| 4308 | if (qjj > c_q + 1) { |
| 4309 | cartesian_trajectory_planner_B.rt = |
| 4310 | -cartesian_trajectory_planner_B.b_ob * |
| 4311 | cartesian_trajectory_planner_B.e_j[0]; |
| 4312 | cartesian_trajectory_planner_B.ztest = |
| 4313 | cartesian_trajectory_planner_B.e_j[0] * |
| 4314 | cartesian_trajectory_planner_B.sqds; |
| 4315 | } |
| 4316 | |
| 4317 | memcpy(&cartesian_trajectory_planner_B.A[0], &V[0], 9U * sizeof(real_T)); |
| 4318 | cartesian_trajectory_plann_xrot(cartesian_trajectory_planner_B.A, (qjj - |
| 4319 | 1) * 3 + 1, 3 * m + 1, cartesian_trajectory_planner_B.sqds, |
| 4320 | cartesian_trajectory_planner_B.b_ob, V); |
| 4321 | cartesian_trajectory_planner_B.e_j[0] = |
| 4322 | cartesian_trajectory_planner_B.ztest; |
| 4323 | } |
| 4324 | break; |
| 4325 | |
| 4326 | case 2: |
| 4327 | cartesian_trajectory_planner_B.rt = cartesian_trajectory_planner_B.e_j[c_q |
| 4328 | - 1]; |
| 4329 | cartesian_trajectory_planner_B.e_j[c_q - 1] = 0.0; |
| 4330 | for (qjj = c_q + 1; qjj <= m + 1; qjj++) { |
| 4331 | cartesian_trajectory_plan_xrotg(cartesian_trajectory_planner_B.s[qjj - 1], |
| 4332 | cartesian_trajectory_planner_B.rt, |
| 4333 | &cartesian_trajectory_planner_B.s[qjj - 1], |
| 4334 | &cartesian_trajectory_planner_B.ztest, |
| 4335 | &cartesian_trajectory_planner_B.sqds, |
| 4336 | &cartesian_trajectory_planner_B.b_ob); |
| 4337 | cartesian_trajectory_planner_B.ztest = |
| 4338 | cartesian_trajectory_planner_B.e_j[qjj - 1]; |
| 4339 | cartesian_trajectory_planner_B.rt = cartesian_trajectory_planner_B.ztest |
| 4340 | * -cartesian_trajectory_planner_B.b_ob; |
| 4341 | cartesian_trajectory_planner_B.e_j[qjj - 1] = |
| 4342 | cartesian_trajectory_planner_B.ztest * |
| 4343 | cartesian_trajectory_planner_B.sqds; |
| 4344 | memcpy(&cartesian_trajectory_planner_B.A[0], &U[0], 9U * sizeof(real_T)); |
| 4345 | cartesian_trajectory_plann_xrot(cartesian_trajectory_planner_B.A, (qjj - |
| 4346 | 1) * 3 + 1, (c_q - 1) * 3 + 1, cartesian_trajectory_planner_B.sqds, |
| 4347 | cartesian_trajectory_planner_B.b_ob, U); |
| 4348 | } |
| 4349 | break; |
| 4350 | |
| 4351 | case 3: |
| 4352 | cartesian_trajectory_planner_B.ztest = fabs |
| 4353 | (cartesian_trajectory_planner_B.s[m]); |
| 4354 | cartesian_trajectory_planner_B.sqds = cartesian_trajectory_planner_B.s[m - |
| 4355 | 1]; |
| 4356 | cartesian_trajectory_planner_B.rt = fabs |
| 4357 | (cartesian_trajectory_planner_B.sqds); |
| 4358 | if ((cartesian_trajectory_planner_B.ztest > |
| 4359 | cartesian_trajectory_planner_B.rt) || rtIsNaN |
| 4360 | (cartesian_trajectory_planner_B.rt)) { |
| 4361 | cartesian_trajectory_planner_B.rt = cartesian_trajectory_planner_B.ztest; |
| 4362 | } |
| 4363 | |
| 4364 | cartesian_trajectory_planner_B.b_ob = cartesian_trajectory_planner_B.e_j[m |
| 4365 | - 1]; |
| 4366 | cartesian_trajectory_planner_B.ztest = fabs |
| 4367 | (cartesian_trajectory_planner_B.b_ob); |
| 4368 | if ((cartesian_trajectory_planner_B.rt > |
| 4369 | cartesian_trajectory_planner_B.ztest) || rtIsNaN |
| 4370 | (cartesian_trajectory_planner_B.ztest)) { |
| 4371 | cartesian_trajectory_planner_B.ztest = cartesian_trajectory_planner_B.rt; |
| 4372 | } |
| 4373 | |
| 4374 | cartesian_trajectory_planner_B.rt = fabs |
| 4375 | (cartesian_trajectory_planner_B.s[c_q]); |
| 4376 | if ((cartesian_trajectory_planner_B.ztest > |
| 4377 | cartesian_trajectory_planner_B.rt) || rtIsNaN |
| 4378 | (cartesian_trajectory_planner_B.rt)) { |
| 4379 | cartesian_trajectory_planner_B.rt = cartesian_trajectory_planner_B.ztest; |
| 4380 | } |
| 4381 | |
| 4382 | cartesian_trajectory_planner_B.ztest = fabs |
| 4383 | (cartesian_trajectory_planner_B.e_j[c_q]); |
| 4384 | if ((cartesian_trajectory_planner_B.rt > |
| 4385 | cartesian_trajectory_planner_B.ztest) || rtIsNaN |
| 4386 | (cartesian_trajectory_planner_B.ztest)) { |
| 4387 | cartesian_trajectory_planner_B.ztest = cartesian_trajectory_planner_B.rt; |
| 4388 | } |
| 4389 | |
| 4390 | cartesian_trajectory_planner_B.rt = cartesian_trajectory_planner_B.s[m] / |
| 4391 | cartesian_trajectory_planner_B.ztest; |
| 4392 | cartesian_trajectory_planner_B.smm1 = cartesian_trajectory_planner_B.sqds / |
| 4393 | cartesian_trajectory_planner_B.ztest; |
| 4394 | cartesian_trajectory_planner_B.emm1 = cartesian_trajectory_planner_B.b_ob / |
| 4395 | cartesian_trajectory_planner_B.ztest; |
| 4396 | cartesian_trajectory_planner_B.sqds = cartesian_trajectory_planner_B.s[c_q] |
| 4397 | / cartesian_trajectory_planner_B.ztest; |
| 4398 | cartesian_trajectory_planner_B.b_ob = |
| 4399 | ((cartesian_trajectory_planner_B.smm1 + |
| 4400 | cartesian_trajectory_planner_B.rt) * |
| 4401 | (cartesian_trajectory_planner_B.smm1 - |
| 4402 | cartesian_trajectory_planner_B.rt) + |
| 4403 | cartesian_trajectory_planner_B.emm1 * |
| 4404 | cartesian_trajectory_planner_B.emm1) / 2.0; |
| 4405 | cartesian_trajectory_planner_B.smm1 = cartesian_trajectory_planner_B.rt * |
| 4406 | cartesian_trajectory_planner_B.emm1; |
| 4407 | cartesian_trajectory_planner_B.smm1 *= cartesian_trajectory_planner_B.smm1; |
| 4408 | if ((cartesian_trajectory_planner_B.b_ob != 0.0) || |
| 4409 | (cartesian_trajectory_planner_B.smm1 != 0.0)) { |
| 4410 | cartesian_trajectory_planner_B.emm1 = sqrt |
| 4411 | (cartesian_trajectory_planner_B.b_ob * |
| 4412 | cartesian_trajectory_planner_B.b_ob + |
| 4413 | cartesian_trajectory_planner_B.smm1); |
| 4414 | if (cartesian_trajectory_planner_B.b_ob < 0.0) { |
| 4415 | cartesian_trajectory_planner_B.emm1 = |
| 4416 | -cartesian_trajectory_planner_B.emm1; |
| 4417 | } |
| 4418 | |
| 4419 | cartesian_trajectory_planner_B.emm1 = |
| 4420 | cartesian_trajectory_planner_B.smm1 / |
| 4421 | (cartesian_trajectory_planner_B.b_ob + |
| 4422 | cartesian_trajectory_planner_B.emm1); |
| 4423 | } else { |
| 4424 | cartesian_trajectory_planner_B.emm1 = 0.0; |
| 4425 | } |
| 4426 | |
| 4427 | cartesian_trajectory_planner_B.rt = (cartesian_trajectory_planner_B.sqds + |
| 4428 | cartesian_trajectory_planner_B.rt) * |
| 4429 | (cartesian_trajectory_planner_B.sqds - cartesian_trajectory_planner_B.rt) |
| 4430 | + cartesian_trajectory_planner_B.emm1; |
| 4431 | cartesian_trajectory_planner_B.sqds *= |
| 4432 | cartesian_trajectory_planner_B.e_j[c_q] / |
| 4433 | cartesian_trajectory_planner_B.ztest; |
| 4434 | for (d_k = c_q + 1; d_k <= m; d_k++) { |
| 4435 | cartesian_trajectory_plan_xrotg(cartesian_trajectory_planner_B.rt, |
| 4436 | cartesian_trajectory_planner_B.sqds, |
| 4437 | &cartesian_trajectory_planner_B.ztest, |
| 4438 | &cartesian_trajectory_planner_B.emm1, |
| 4439 | &cartesian_trajectory_planner_B.b_ob, |
| 4440 | &cartesian_trajectory_planner_B.smm1); |
| 4441 | if (d_k > c_q + 1) { |
| 4442 | cartesian_trajectory_planner_B.e_j[0] = |
| 4443 | cartesian_trajectory_planner_B.ztest; |
| 4444 | } |
| 4445 | |
| 4446 | cartesian_trajectory_planner_B.ztest = |
| 4447 | cartesian_trajectory_planner_B.e_j[d_k - 1]; |
| 4448 | cartesian_trajectory_planner_B.rt = cartesian_trajectory_planner_B.s[d_k |
| 4449 | - 1]; |
| 4450 | cartesian_trajectory_planner_B.e_j[d_k - 1] = |
| 4451 | cartesian_trajectory_planner_B.ztest * |
| 4452 | cartesian_trajectory_planner_B.b_ob - |
| 4453 | cartesian_trajectory_planner_B.rt * |
| 4454 | cartesian_trajectory_planner_B.smm1; |
| 4455 | cartesian_trajectory_planner_B.sqds = |
| 4456 | cartesian_trajectory_planner_B.smm1 * |
| 4457 | cartesian_trajectory_planner_B.s[d_k]; |
| 4458 | cartesian_trajectory_planner_B.s[d_k] *= |
| 4459 | cartesian_trajectory_planner_B.b_ob; |
| 4460 | qjj = (d_k - 1) * 3 + 1; |
| 4461 | kase = 3 * d_k + 1; |
| 4462 | memcpy(&cartesian_trajectory_planner_B.A[0], &V[0], 9U * sizeof(real_T)); |
| 4463 | cartesian_trajectory_plann_xrot(cartesian_trajectory_planner_B.A, qjj, |
| 4464 | kase, cartesian_trajectory_planner_B.b_ob, |
| 4465 | cartesian_trajectory_planner_B.smm1, V); |
| 4466 | cartesian_trajectory_plan_xrotg(cartesian_trajectory_planner_B.rt * |
| 4467 | cartesian_trajectory_planner_B.b_ob + |
| 4468 | cartesian_trajectory_planner_B.ztest * |
| 4469 | cartesian_trajectory_planner_B.smm1, |
| 4470 | cartesian_trajectory_planner_B.sqds, |
| 4471 | &cartesian_trajectory_planner_B.s[d_k - 1], |
| 4472 | &cartesian_trajectory_planner_B.unusedU2, |
| 4473 | &cartesian_trajectory_planner_B.emm1, |
| 4474 | &cartesian_trajectory_planner_B.d_sn); |
| 4475 | cartesian_trajectory_planner_B.rt = |
| 4476 | cartesian_trajectory_planner_B.e_j[d_k - 1] * |
| 4477 | cartesian_trajectory_planner_B.emm1 + |
| 4478 | cartesian_trajectory_planner_B.d_sn * |
| 4479 | cartesian_trajectory_planner_B.s[d_k]; |
| 4480 | cartesian_trajectory_planner_B.s[d_k] = |
| 4481 | cartesian_trajectory_planner_B.e_j[d_k - 1] * |
| 4482 | -cartesian_trajectory_planner_B.d_sn + |
| 4483 | cartesian_trajectory_planner_B.emm1 * |
| 4484 | cartesian_trajectory_planner_B.s[d_k]; |
| 4485 | cartesian_trajectory_planner_B.sqds = |
| 4486 | cartesian_trajectory_planner_B.d_sn * |
| 4487 | cartesian_trajectory_planner_B.e_j[d_k]; |
| 4488 | cartesian_trajectory_planner_B.e_j[d_k] *= |
| 4489 | cartesian_trajectory_planner_B.emm1; |
| 4490 | memcpy(&cartesian_trajectory_planner_B.A[0], &U[0], 9U * sizeof(real_T)); |
| 4491 | cartesian_trajectory_plann_xrot(cartesian_trajectory_planner_B.A, qjj, |
| 4492 | kase, cartesian_trajectory_planner_B.emm1, |
| 4493 | cartesian_trajectory_planner_B.d_sn, U); |
| 4494 | } |
| 4495 | |
| 4496 | cartesian_trajectory_planner_B.e_j[m - 1] = |
| 4497 | cartesian_trajectory_planner_B.rt; |
| 4498 | qq++; |
| 4499 | break; |
| 4500 | |
| 4501 | default: |
| 4502 | if (cartesian_trajectory_planner_B.s[c_q] < 0.0) { |
| 4503 | cartesian_trajectory_planner_B.s[c_q] = |
| 4504 | -cartesian_trajectory_planner_B.s[c_q]; |
| 4505 | qjj = 3 * c_q; |
| 4506 | for (qq = qjj + 1; qq <= qjj + 3; qq++) { |
| 4507 | V[qq - 1] = -V[qq - 1]; |
| 4508 | } |
| 4509 | } |
| 4510 | |
| 4511 | qq = c_q + 1; |
| 4512 | while ((c_q + 1 < 3) && (cartesian_trajectory_planner_B.s[c_q] < |
| 4513 | cartesian_trajectory_planner_B.s[qq])) { |
| 4514 | cartesian_trajectory_planner_B.rt = cartesian_trajectory_planner_B.s[c_q]; |
| 4515 | cartesian_trajectory_planner_B.s[c_q] = |
| 4516 | cartesian_trajectory_planner_B.s[qq]; |
| 4517 | cartesian_trajectory_planner_B.s[qq] = cartesian_trajectory_planner_B.rt; |
| 4518 | qjj = 3 * c_q + 1; |
| 4519 | kase = (c_q + 1) * 3 + 1; |
| 4520 | memcpy(&cartesian_trajectory_planner_B.A[0], &V[0], 9U * sizeof(real_T)); |
| 4521 | cartesian_trajectory_plan_xswap(cartesian_trajectory_planner_B.A, qjj, |
| 4522 | kase, V); |
| 4523 | memcpy(&cartesian_trajectory_planner_B.A[0], &U[0], 9U * sizeof(real_T)); |
| 4524 | cartesian_trajectory_plan_xswap(cartesian_trajectory_planner_B.A, qjj, |
| 4525 | kase, U); |
| 4526 | c_q = qq; |
| 4527 | qq++; |
| 4528 | } |
| 4529 | |
| 4530 | qq = 0; |
| 4531 | m--; |
| 4532 | break; |
| 4533 | } |
| 4534 | } |
| 4535 | |
| 4536 | s[0] = cartesian_trajectory_planner_B.s[0]; |
| 4537 | s[1] = cartesian_trajectory_planner_B.s[1]; |
| 4538 | s[2] = cartesian_trajectory_planner_B.s[2]; |
| 4539 | } |
| 4540 | |
| 4541 | static void cartesian_trajectory_rotm2axang(const real_T R[9], real_T axang[4]) |
| 4542 | { |
| 4543 | boolean_T e; |
| 4544 | boolean_T p; |
| 4545 | boolean_T rEQ0; |
| 4546 | int32_T loop_ub_tmp; |
| 4547 | boolean_T exitg1; |
| 4548 | cartesian_trajectory_planner_B.u.re = (((R[0] + R[4]) + R[8]) - 1.0) * 0.5; |
| 4549 | if (!(fabs(cartesian_trajectory_planner_B.u.re) > 1.0)) { |
| 4550 | cartesian_trajectory_planner_B.v_e.re = acos |
| 4551 | (cartesian_trajectory_planner_B.u.re); |
| 4552 | } else { |
| 4553 | cartesian_trajectory_planner_B.u_m.re = cartesian_trajectory_planner_B.u.re |
| 4554 | + 1.0; |
| 4555 | cartesian_trajectory_planner_B.u_m.im = 0.0; |
| 4556 | cartesian_trajectory_planner_B.dc.re = 1.0 - |
| 4557 | cartesian_trajectory_planner_B.u.re; |
| 4558 | cartesian_trajectory_planner_B.dc.im = 0.0; |
| 4559 | cartesian_trajectory_planner_B.v_e.re = 2.0 * rt_atan2d_snf |
| 4560 | ((cartesian_trajectory_plann_sqrt(cartesian_trajectory_planner_B.dc)).re, |
| 4561 | (cartesian_trajectory_plann_sqrt(cartesian_trajectory_planner_B.u_m)).re); |
| 4562 | } |
| 4563 | |
| 4564 | cartesian_trajectory_planner_B.a_pi = 2.0 * sin |
| 4565 | (cartesian_trajectory_planner_B.v_e.re); |
| 4566 | cartesian_trajectory_planner_B.v_my[0] = (R[5] - R[7]) / |
| 4567 | cartesian_trajectory_planner_B.a_pi; |
| 4568 | cartesian_trajectory_planner_B.v_my[1] = (R[6] - R[2]) / |
| 4569 | cartesian_trajectory_planner_B.a_pi; |
| 4570 | cartesian_trajectory_planner_B.v_my[2] = (R[1] - R[3]) / |
| 4571 | cartesian_trajectory_planner_B.a_pi; |
| 4572 | if (rtIsNaN(cartesian_trajectory_planner_B.v_e.re) || rtIsInf |
| 4573 | (cartesian_trajectory_planner_B.v_e.re)) { |
| 4574 | cartesian_trajectory_planner_B.a_pi = (rtNaN); |
| 4575 | } else if (cartesian_trajectory_planner_B.v_e.re == 0.0) { |
| 4576 | cartesian_trajectory_planner_B.a_pi = 0.0; |
| 4577 | } else { |
| 4578 | cartesian_trajectory_planner_B.a_pi = fmod |
| 4579 | (cartesian_trajectory_planner_B.v_e.re, 3.1415926535897931); |
| 4580 | rEQ0 = (cartesian_trajectory_planner_B.a_pi == 0.0); |
| 4581 | if (!rEQ0) { |
| 4582 | cartesian_trajectory_planner_B.q = fabs |
| 4583 | (cartesian_trajectory_planner_B.v_e.re / 3.1415926535897931); |
| 4584 | rEQ0 = !(fabs(cartesian_trajectory_planner_B.q - floor |
| 4585 | (cartesian_trajectory_planner_B.q + 0.5)) > |
| 4586 | 2.2204460492503131E-16 * cartesian_trajectory_planner_B.q); |
| 4587 | } |
| 4588 | |
| 4589 | if (rEQ0) { |
| 4590 | cartesian_trajectory_planner_B.a_pi = 0.0; |
| 4591 | } else { |
| 4592 | if (cartesian_trajectory_planner_B.v_e.re < 0.0) { |
| 4593 | cartesian_trajectory_planner_B.a_pi += 3.1415926535897931; |
| 4594 | } |
| 4595 | } |
| 4596 | } |
| 4597 | |
| 4598 | rEQ0 = (cartesian_trajectory_planner_B.a_pi == 0.0); |
| 4599 | e = true; |
| 4600 | cartesian_trajectory_planner_B.b_k_h = 0; |
| 4601 | exitg1 = false; |
| 4602 | while ((!exitg1) && (cartesian_trajectory_planner_B.b_k_h < 3)) { |
| 4603 | if (!(cartesian_trajectory_planner_B.v_my[cartesian_trajectory_planner_B.b_k_h] |
| 4604 | == 0.0)) { |
| 4605 | e = false; |
| 4606 | exitg1 = true; |
| 4607 | } else { |
| 4608 | cartesian_trajectory_planner_B.b_k_h++; |
| 4609 | } |
| 4610 | } |
| 4611 | |
| 4612 | if (rEQ0 || e) { |
| 4613 | loop_ub_tmp = (rEQ0 || e); |
| 4614 | cartesian_trajectory_planner_B.loop_ub_j3 = loop_ub_tmp * 3 - 1; |
| 4615 | if (0 <= cartesian_trajectory_planner_B.loop_ub_j3) { |
| 4616 | memset(&cartesian_trajectory_planner_B.vspecial_data[0], 0, |
| 4617 | (cartesian_trajectory_planner_B.loop_ub_j3 + 1) * sizeof(real_T)); |
| 4618 | } |
| 4619 | |
| 4620 | loop_ub_tmp--; |
| 4621 | for (cartesian_trajectory_planner_B.loop_ub_j3 = 0; |
| 4622 | cartesian_trajectory_planner_B.loop_ub_j3 <= loop_ub_tmp; |
| 4623 | cartesian_trajectory_planner_B.loop_ub_j3++) { |
| 4624 | memset(&cartesian_trajectory_planner_B.b_I[0], 0, 9U * sizeof(real_T)); |
| 4625 | cartesian_trajectory_planner_B.b_I[0] = 1.0; |
| 4626 | cartesian_trajectory_planner_B.b_I[4] = 1.0; |
| 4627 | cartesian_trajectory_planner_B.b_I[8] = 1.0; |
| 4628 | p = true; |
| 4629 | for (cartesian_trajectory_planner_B.b_k_h = 0; |
| 4630 | cartesian_trajectory_planner_B.b_k_h < 9; |
| 4631 | cartesian_trajectory_planner_B.b_k_h++) { |
| 4632 | cartesian_trajectory_planner_B.a_pi = |
| 4633 | cartesian_trajectory_planner_B.b_I[cartesian_trajectory_planner_B.b_k_h] |
| 4634 | - R[cartesian_trajectory_planner_B.b_k_h]; |
| 4635 | if (p && ((!rtIsInf(cartesian_trajectory_planner_B.a_pi)) && (!rtIsNaN |
| 4636 | (cartesian_trajectory_planner_B.a_pi)))) { |
| 4637 | } else { |
| 4638 | p = false; |
| 4639 | } |
| 4640 | |
| 4641 | cartesian_trajectory_planner_B.b_I[cartesian_trajectory_planner_B.b_k_h] |
| 4642 | = cartesian_trajectory_planner_B.a_pi; |
| 4643 | } |
| 4644 | |
| 4645 | if (p) { |
| 4646 | cartesian_trajectory_planne_svd(cartesian_trajectory_planner_B.b_I, |
| 4647 | cartesian_trajectory_planner_B.b_U, |
| 4648 | cartesian_trajectory_planner_B.vspecial_data, |
| 4649 | cartesian_trajectory_planner_B.V_p); |
| 4650 | } else { |
| 4651 | for (cartesian_trajectory_planner_B.b_k_h = 0; |
| 4652 | cartesian_trajectory_planner_B.b_k_h < 9; |
| 4653 | cartesian_trajectory_planner_B.b_k_h++) { |
| 4654 | cartesian_trajectory_planner_B.V_p[cartesian_trajectory_planner_B.b_k_h] |
| 4655 | = (rtNaN); |
| 4656 | } |
| 4657 | } |
| 4658 | |
| 4659 | cartesian_trajectory_planner_B.vspecial_data[0] = |
| 4660 | cartesian_trajectory_planner_B.V_p[6]; |
| 4661 | cartesian_trajectory_planner_B.vspecial_data[1] = |
| 4662 | cartesian_trajectory_planner_B.V_p[7]; |
| 4663 | cartesian_trajectory_planner_B.vspecial_data[2] = |
| 4664 | cartesian_trajectory_planner_B.V_p[8]; |
| 4665 | } |
| 4666 | |
| 4667 | loop_ub_tmp = 0; |
| 4668 | if (rEQ0 || e) { |
| 4669 | for (cartesian_trajectory_planner_B.loop_ub_j3 = 0; |
| 4670 | cartesian_trajectory_planner_B.loop_ub_j3 < 1; |
| 4671 | cartesian_trajectory_planner_B.loop_ub_j3++) { |
| 4672 | loop_ub_tmp++; |
| 4673 | } |
| 4674 | } |
| 4675 | |
| 4676 | for (cartesian_trajectory_planner_B.b_k_h = 0; |
| 4677 | cartesian_trajectory_planner_B.b_k_h < loop_ub_tmp; |
| 4678 | cartesian_trajectory_planner_B.b_k_h++) { |
| 4679 | cartesian_trajectory_planner_B.v_my[0] = |
| 4680 | cartesian_trajectory_planner_B.vspecial_data[3 * |
| 4681 | cartesian_trajectory_planner_B.b_k_h]; |
| 4682 | cartesian_trajectory_planner_B.v_my[1] = |
| 4683 | cartesian_trajectory_planner_B.vspecial_data[3 * |
| 4684 | cartesian_trajectory_planner_B.b_k_h + 1]; |
| 4685 | cartesian_trajectory_planner_B.v_my[2] = |
| 4686 | cartesian_trajectory_planner_B.vspecial_data[3 * |
| 4687 | cartesian_trajectory_planner_B.b_k_h + 2]; |
| 4688 | } |
| 4689 | } |
| 4690 | |
| 4691 | cartesian_trajectory_planner_B.a_pi = 1.0 / sqrt |
| 4692 | ((cartesian_trajectory_planner_B.v_my[0] * |
| 4693 | cartesian_trajectory_planner_B.v_my[0] + |
| 4694 | cartesian_trajectory_planner_B.v_my[1] * |
| 4695 | cartesian_trajectory_planner_B.v_my[1]) + |
| 4696 | cartesian_trajectory_planner_B.v_my[2] * |
| 4697 | cartesian_trajectory_planner_B.v_my[2]); |
| 4698 | cartesian_trajectory_planner_B.v_my[0] *= cartesian_trajectory_planner_B.a_pi; |
| 4699 | cartesian_trajectory_planner_B.v_my[1] *= cartesian_trajectory_planner_B.a_pi; |
| 4700 | axang[0] = cartesian_trajectory_planner_B.v_my[0]; |
| 4701 | axang[1] = cartesian_trajectory_planner_B.v_my[1]; |
| 4702 | axang[2] = cartesian_trajectory_planner_B.v_my[2] * |
| 4703 | cartesian_trajectory_planner_B.a_pi; |
| 4704 | axang[3] = cartesian_trajectory_planner_B.v_e.re; |
| 4705 | } |
| 4706 | |
| 4707 | static void cartesian_IKHelpers_computeCost(const real_T x[6], |
| 4708 | f_robotics_manip_internal_IKE_T *args, real_T *cost, real_T W[36], |
| 4709 | emxArray_real_T_cartesian_tra_T *Jac, f_robotics_manip_internal_IKE_T **b_args) |
| 4710 | { |
| 4711 | x_robotics_manip_internal_Rig_T *treeInternal; |
| 4712 | emxArray_char_T_cartesian_tra_T *bodyName; |
| 4713 | emxArray_real_T_cartesian_tra_T *J; |
| 4714 | emxArray_real_T_cartesian_tra_T *y; |
| 4715 | cartesian_trajec_emxInit_char_T(&bodyName, 2); |
| 4716 | *b_args = args; |
| 4717 | treeInternal = args->Robot; |
| 4718 | cartesian_trajectory_planner_B.b_j_h = bodyName->size[0] * bodyName->size[1]; |
| 4719 | bodyName->size[0] = 1; |
| 4720 | bodyName->size[1] = args->BodyName->size[1]; |
| 4721 | cartes_emxEnsureCapacity_char_T(bodyName, cartesian_trajectory_planner_B.b_j_h); |
| 4722 | cartesian_trajectory_planner_B.loop_ub_f = args->BodyName->size[0] * |
| 4723 | args->BodyName->size[1] - 1; |
| 4724 | for (cartesian_trajectory_planner_B.b_j_h = 0; |
| 4725 | cartesian_trajectory_planner_B.b_j_h <= |
| 4726 | cartesian_trajectory_planner_B.loop_ub_f; |
| 4727 | cartesian_trajectory_planner_B.b_j_h++) { |
| 4728 | bodyName->data[cartesian_trajectory_planner_B.b_j_h] = args->BodyName-> |
| 4729 | data[cartesian_trajectory_planner_B.b_j_h]; |
| 4730 | } |
| 4731 | |
| 4732 | for (cartesian_trajectory_planner_B.b_j_h = 0; |
| 4733 | cartesian_trajectory_planner_B.b_j_h < 16; |
| 4734 | cartesian_trajectory_planner_B.b_j_h++) { |
| 4735 | cartesian_trajectory_planner_B.Td[cartesian_trajectory_planner_B.b_j_h] = |
| 4736 | args->Tform[cartesian_trajectory_planner_B.b_j_h]; |
| 4737 | } |
| 4738 | |
| 4739 | for (cartesian_trajectory_planner_B.b_j_h = 0; |
| 4740 | cartesian_trajectory_planner_B.b_j_h < 36; |
| 4741 | cartesian_trajectory_planner_B.b_j_h++) { |
| 4742 | W[cartesian_trajectory_planner_B.b_j_h] = args-> |
| 4743 | WeightMatrix[cartesian_trajectory_planner_B.b_j_h]; |
| 4744 | } |
| 4745 | |
| 4746 | cartesian_trajec_emxInit_real_T(&J, 2); |
| 4747 | RigidBodyTree_efficientFKAndJac(treeInternal, x, bodyName, |
| 4748 | cartesian_trajectory_planner_B.T_data, cartesian_trajectory_planner_B.T_size, |
| 4749 | J); |
| 4750 | cartesian_trajectory_planner_B.b_j_h = Jac->size[0] * Jac->size[1]; |
| 4751 | Jac->size[0] = 6; |
| 4752 | Jac->size[1] = J->size[1]; |
| 4753 | cartes_emxEnsureCapacity_real_T(Jac, cartesian_trajectory_planner_B.b_j_h); |
| 4754 | cartesian_trajectory_planner_B.loop_ub_f = J->size[0] * J->size[1] - 1; |
| 4755 | cartesian_trajec_emxFree_char_T(&bodyName); |
| 4756 | for (cartesian_trajectory_planner_B.b_j_h = 0; |
| 4757 | cartesian_trajectory_planner_B.b_j_h <= |
| 4758 | cartesian_trajectory_planner_B.loop_ub_f; |
| 4759 | cartesian_trajectory_planner_B.b_j_h++) { |
| 4760 | Jac->data[cartesian_trajectory_planner_B.b_j_h] = -J-> |
| 4761 | data[cartesian_trajectory_planner_B.b_j_h]; |
| 4762 | } |
| 4763 | |
| 4764 | cartesian_trajec_emxFree_real_T(&J); |
| 4765 | for (cartesian_trajectory_planner_B.b_j_h = 0; |
| 4766 | cartesian_trajectory_planner_B.b_j_h < 3; |
| 4767 | cartesian_trajectory_planner_B.b_j_h++) { |
| 4768 | cartesian_trajectory_planner_B.T_o[3 * cartesian_trajectory_planner_B.b_j_h] |
| 4769 | = |
| 4770 | cartesian_trajectory_planner_B.T_data[cartesian_trajectory_planner_B.b_j_h]; |
| 4771 | cartesian_trajectory_planner_B.n_n = 3 * |
| 4772 | cartesian_trajectory_planner_B.b_j_h + 1; |
| 4773 | cartesian_trajectory_planner_B.T_o[cartesian_trajectory_planner_B.n_n] = |
| 4774 | cartesian_trajectory_planner_B.T_data |
| 4775 | [((cartesian_trajectory_planner_B.b_j_h + 1) + |
| 4776 | cartesian_trajectory_planner_B.T_size[0]) - 1]; |
| 4777 | cartesian_trajectory_planner_B.boffset_h = 3 * |
| 4778 | cartesian_trajectory_planner_B.b_j_h + 2; |
| 4779 | cartesian_trajectory_planner_B.T_o[cartesian_trajectory_planner_B.boffset_h] |
| 4780 | = cartesian_trajectory_planner_B.T_data |
| 4781 | [((cartesian_trajectory_planner_B.b_j_h + 1) + |
| 4782 | (cartesian_trajectory_planner_B.T_size[0] << 1)) - 1]; |
| 4783 | for (cartesian_trajectory_planner_B.loop_ub_f = 0; |
| 4784 | cartesian_trajectory_planner_B.loop_ub_f < 3; |
| 4785 | cartesian_trajectory_planner_B.loop_ub_f++) { |
| 4786 | cartesian_trajectory_planner_B.Td_tmp = |
| 4787 | cartesian_trajectory_planner_B.loop_ub_f + 3 * |
| 4788 | cartesian_trajectory_planner_B.b_j_h; |
| 4789 | cartesian_trajectory_planner_B.Td_o[cartesian_trajectory_planner_B.Td_tmp] |
| 4790 | = 0.0; |
| 4791 | cartesian_trajectory_planner_B.Td_o[cartesian_trajectory_planner_B.Td_tmp] |
| 4792 | += cartesian_trajectory_planner_B.T_o[3 * |
| 4793 | cartesian_trajectory_planner_B.b_j_h] * |
| 4794 | cartesian_trajectory_planner_B.Td[cartesian_trajectory_planner_B.loop_ub_f]; |
| 4795 | cartesian_trajectory_planner_B.Td_o[cartesian_trajectory_planner_B.Td_tmp] |
| 4796 | += cartesian_trajectory_planner_B.T_o[cartesian_trajectory_planner_B.n_n] |
| 4797 | * cartesian_trajectory_planner_B.Td[cartesian_trajectory_planner_B.loop_ub_f |
| 4798 | + 4]; |
| 4799 | cartesian_trajectory_planner_B.Td_o[cartesian_trajectory_planner_B.Td_tmp] |
| 4800 | += |
| 4801 | cartesian_trajectory_planner_B.T_o[cartesian_trajectory_planner_B.boffset_h] |
| 4802 | * cartesian_trajectory_planner_B.Td[cartesian_trajectory_planner_B.loop_ub_f |
| 4803 | + 8]; |
| 4804 | } |
| 4805 | } |
| 4806 | |
| 4807 | cartesian_trajectory_rotm2axang(cartesian_trajectory_planner_B.Td_o, |
| 4808 | cartesian_trajectory_planner_B.v); |
| 4809 | cartesian_trajectory_planner_B.e[0] = cartesian_trajectory_planner_B.v[3] * |
| 4810 | cartesian_trajectory_planner_B.v[0]; |
| 4811 | cartesian_trajectory_planner_B.e[3] = cartesian_trajectory_planner_B.Td[12] - |
| 4812 | cartesian_trajectory_planner_B.T_data[cartesian_trajectory_planner_B.T_size |
| 4813 | [0] * 3]; |
| 4814 | cartesian_trajectory_planner_B.e[1] = cartesian_trajectory_planner_B.v[3] * |
| 4815 | cartesian_trajectory_planner_B.v[1]; |
| 4816 | cartesian_trajectory_planner_B.e[4] = cartesian_trajectory_planner_B.Td[13] - |
| 4817 | cartesian_trajectory_planner_B.T_data[cartesian_trajectory_planner_B.T_size |
| 4818 | [0] * 3 + 1]; |
| 4819 | cartesian_trajectory_planner_B.e[2] = cartesian_trajectory_planner_B.v[3] * |
| 4820 | cartesian_trajectory_planner_B.v[2]; |
| 4821 | cartesian_trajectory_planner_B.e[5] = cartesian_trajectory_planner_B.Td[14] - |
| 4822 | cartesian_trajectory_planner_B.T_data[cartesian_trajectory_planner_B.T_size |
| 4823 | [0] * 3 + 2]; |
| 4824 | cartesian_trajectory_planner_B.b_j_h = args->ErrTemp->size[0]; |
| 4825 | args->ErrTemp->size[0] = 6; |
| 4826 | cartes_emxEnsureCapacity_real_T(args->ErrTemp, |
| 4827 | cartesian_trajectory_planner_B.b_j_h); |
| 4828 | for (cartesian_trajectory_planner_B.b_j_h = 0; |
| 4829 | cartesian_trajectory_planner_B.b_j_h < 6; |
| 4830 | cartesian_trajectory_planner_B.b_j_h++) { |
| 4831 | args->ErrTemp->data[cartesian_trajectory_planner_B.b_j_h] = |
| 4832 | cartesian_trajectory_planner_B.e[cartesian_trajectory_planner_B.b_j_h]; |
| 4833 | } |
| 4834 | |
| 4835 | for (cartesian_trajectory_planner_B.b_j_h = 0; |
| 4836 | cartesian_trajectory_planner_B.b_j_h < 6; |
| 4837 | cartesian_trajectory_planner_B.b_j_h++) { |
| 4838 | cartesian_trajectory_planner_B.y[cartesian_trajectory_planner_B.b_j_h] = 0.0; |
| 4839 | for (cartesian_trajectory_planner_B.loop_ub_f = 0; |
| 4840 | cartesian_trajectory_planner_B.loop_ub_f < 6; |
| 4841 | cartesian_trajectory_planner_B.loop_ub_f++) { |
| 4842 | cartesian_trajectory_planner_B.s_n = W[6 * |
| 4843 | cartesian_trajectory_planner_B.b_j_h + |
| 4844 | cartesian_trajectory_planner_B.loop_ub_f] * (0.5 * |
| 4845 | cartesian_trajectory_planner_B.e[cartesian_trajectory_planner_B.loop_ub_f]) |
| 4846 | + cartesian_trajectory_planner_B.y[cartesian_trajectory_planner_B.b_j_h]; |
| 4847 | cartesian_trajectory_planner_B.y[cartesian_trajectory_planner_B.b_j_h] = |
| 4848 | cartesian_trajectory_planner_B.s_n; |
| 4849 | } |
| 4850 | } |
| 4851 | |
| 4852 | cartesian_trajectory_planner_B.s_n = 0.0; |
| 4853 | for (cartesian_trajectory_planner_B.b_j_h = 0; |
| 4854 | cartesian_trajectory_planner_B.b_j_h < 6; |
| 4855 | cartesian_trajectory_planner_B.b_j_h++) { |
| 4856 | cartesian_trajectory_planner_B.s_n += |
| 4857 | cartesian_trajectory_planner_B.y[cartesian_trajectory_planner_B.b_j_h] * |
| 4858 | cartesian_trajectory_planner_B.e[cartesian_trajectory_planner_B.b_j_h]; |
| 4859 | } |
| 4860 | |
| 4861 | args->CostTemp = cartesian_trajectory_planner_B.s_n; |
| 4862 | for (cartesian_trajectory_planner_B.b_j_h = 0; |
| 4863 | cartesian_trajectory_planner_B.b_j_h < 6; |
| 4864 | cartesian_trajectory_planner_B.b_j_h++) { |
| 4865 | cartesian_trajectory_planner_B.y[cartesian_trajectory_planner_B.b_j_h] = 0.0; |
| 4866 | for (cartesian_trajectory_planner_B.loop_ub_f = 0; |
| 4867 | cartesian_trajectory_planner_B.loop_ub_f < 6; |
| 4868 | cartesian_trajectory_planner_B.loop_ub_f++) { |
| 4869 | cartesian_trajectory_planner_B.s_n = W[6 * |
| 4870 | cartesian_trajectory_planner_B.b_j_h + |
| 4871 | cartesian_trajectory_planner_B.loop_ub_f] * |
| 4872 | cartesian_trajectory_planner_B.e[cartesian_trajectory_planner_B.loop_ub_f] |
| 4873 | + cartesian_trajectory_planner_B.y[cartesian_trajectory_planner_B.b_j_h]; |
| 4874 | cartesian_trajectory_planner_B.y[cartesian_trajectory_planner_B.b_j_h] = |
| 4875 | cartesian_trajectory_planner_B.s_n; |
| 4876 | } |
| 4877 | } |
| 4878 | |
| 4879 | cartesian_trajec_emxInit_real_T(&y, 2); |
| 4880 | cartesian_trajectory_planner_B.n_n = Jac->size[1] - 1; |
| 4881 | cartesian_trajectory_planner_B.b_j_h = y->size[0] * y->size[1]; |
| 4882 | y->size[0] = 1; |
| 4883 | y->size[1] = Jac->size[1]; |
| 4884 | cartes_emxEnsureCapacity_real_T(y, cartesian_trajectory_planner_B.b_j_h); |
| 4885 | for (cartesian_trajectory_planner_B.b_j_h = 0; |
| 4886 | cartesian_trajectory_planner_B.b_j_h <= |
| 4887 | cartesian_trajectory_planner_B.n_n; cartesian_trajectory_planner_B.b_j_h |
| 4888 | ++) { |
| 4889 | cartesian_trajectory_planner_B.boffset_h = |
| 4890 | cartesian_trajectory_planner_B.b_j_h * 6 - 1; |
| 4891 | cartesian_trajectory_planner_B.s_n = 0.0; |
| 4892 | for (cartesian_trajectory_planner_B.loop_ub_f = 0; |
| 4893 | cartesian_trajectory_planner_B.loop_ub_f < 6; |
| 4894 | cartesian_trajectory_planner_B.loop_ub_f++) { |
| 4895 | cartesian_trajectory_planner_B.s_n += Jac->data |
| 4896 | [(cartesian_trajectory_planner_B.boffset_h + |
| 4897 | cartesian_trajectory_planner_B.loop_ub_f) + 1] * |
| 4898 | cartesian_trajectory_planner_B.y[cartesian_trajectory_planner_B.loop_ub_f]; |
| 4899 | } |
| 4900 | |
| 4901 | y->data[cartesian_trajectory_planner_B.b_j_h] = |
| 4902 | cartesian_trajectory_planner_B.s_n; |
| 4903 | } |
| 4904 | |
| 4905 | cartesian_trajectory_planner_B.b_j_h = args->GradTemp->size[0]; |
| 4906 | args->GradTemp->size[0] = y->size[1]; |
| 4907 | cartes_emxEnsureCapacity_real_T(args->GradTemp, |
| 4908 | cartesian_trajectory_planner_B.b_j_h); |
| 4909 | cartesian_trajectory_planner_B.loop_ub_f = y->size[1]; |
| 4910 | for (cartesian_trajectory_planner_B.b_j_h = 0; |
| 4911 | cartesian_trajectory_planner_B.b_j_h < |
| 4912 | cartesian_trajectory_planner_B.loop_ub_f; |
| 4913 | cartesian_trajectory_planner_B.b_j_h++) { |
| 4914 | args->GradTemp->data[cartesian_trajectory_planner_B.b_j_h] = y-> |
| 4915 | data[cartesian_trajectory_planner_B.b_j_h]; |
| 4916 | } |
| 4917 | |
| 4918 | cartesian_trajec_emxFree_real_T(&y); |
| 4919 | cartesian_trajectory_planner_B.s_n = args->CostTemp; |
| 4920 | *cost = cartesian_trajectory_planner_B.s_n; |
| 4921 | } |
| 4922 | |
| 4923 | static void cartesian_trajectory_planne_eye(real_T b_I[36]) |
| 4924 | { |
| 4925 | int32_T b_k; |
| 4926 | memset(&b_I[0], 0, 36U * sizeof(real_T)); |
| 4927 | for (b_k = 0; b_k < 6; b_k++) { |
| 4928 | b_I[b_k + 6 * b_k] = 1.0; |
| 4929 | } |
| 4930 | } |
| 4931 | |
| 4932 | static void cartesian_tra_emxInit_boolean_T(emxArray_boolean_T_cartesian__T |
| 4933 | **pEmxArray, int32_T numDimensions) |
| 4934 | { |
| 4935 | emxArray_boolean_T_cartesian__T *emxArray; |
| 4936 | int32_T i; |
| 4937 | *pEmxArray = (emxArray_boolean_T_cartesian__T *)malloc(sizeof |
| 4938 | (emxArray_boolean_T_cartesian__T)); |
| 4939 | emxArray = *pEmxArray; |
| 4940 | emxArray->data = (boolean_T *)NULL; |
| 4941 | emxArray->numDimensions = numDimensions; |
| 4942 | emxArray->size = (int32_T *)malloc(sizeof(int32_T) * numDimensions); |
| 4943 | emxArray->allocatedSize = 0; |
| 4944 | emxArray->canFreeData = true; |
| 4945 | for (i = 0; i < numDimensions; i++) { |
| 4946 | emxArray->size[i] = 0; |
| 4947 | } |
| 4948 | } |
| 4949 | |
| 4950 | static void cartesian_traje_emxInit_int32_T(emxArray_int32_T_cartesian_tr_T |
| 4951 | **pEmxArray, int32_T numDimensions) |
| 4952 | { |
| 4953 | emxArray_int32_T_cartesian_tr_T *emxArray; |
| 4954 | int32_T i; |
| 4955 | *pEmxArray = (emxArray_int32_T_cartesian_tr_T *)malloc(sizeof |
| 4956 | (emxArray_int32_T_cartesian_tr_T)); |
| 4957 | emxArray = *pEmxArray; |
| 4958 | emxArray->data = (int32_T *)NULL; |
| 4959 | emxArray->numDimensions = numDimensions; |
| 4960 | emxArray->size = (int32_T *)malloc(sizeof(int32_T) * numDimensions); |
| 4961 | emxArray->allocatedSize = 0; |
| 4962 | emxArray->canFreeData = true; |
| 4963 | for (i = 0; i < numDimensions; i++) { |
| 4964 | emxArray->size[i] = 0; |
| 4965 | } |
| 4966 | } |
| 4967 | |
| 4968 | static void car_emxEnsureCapacity_boolean_T(emxArray_boolean_T_cartesian__T |
| 4969 | *emxArray, int32_T oldNumel) |
| 4970 | { |
| 4971 | int32_T newNumel; |
| 4972 | int32_T i; |
| 4973 | void *newData; |
| 4974 | if (oldNumel < 0) { |
| 4975 | oldNumel = 0; |
| 4976 | } |
| 4977 | |
| 4978 | newNumel = 1; |
| 4979 | for (i = 0; i < emxArray->numDimensions; i++) { |
| 4980 | newNumel *= emxArray->size[i]; |
| 4981 | } |
| 4982 | |
| 4983 | if (newNumel > emxArray->allocatedSize) { |
| 4984 | i = emxArray->allocatedSize; |
| 4985 | if (i < 16) { |
| 4986 | i = 16; |
| 4987 | } |
| 4988 | |
| 4989 | while (i < newNumel) { |
| 4990 | if (i > 1073741823) { |
| 4991 | i = MAX_int32_T; |
| 4992 | } else { |
| 4993 | i <<= 1; |
| 4994 | } |
| 4995 | } |
| 4996 | |
| 4997 | newData = calloc(static_cast<uint32_T>(i), sizeof(boolean_T)); |
| 4998 | if (emxArray->data != NULL) { |
| 4999 | memcpy(newData, emxArray->data, sizeof(boolean_T) * oldNumel); |
| 5000 | if (emxArray->canFreeData) { |
| 5001 | free(emxArray->data); |
| 5002 | } |
| 5003 | } |
| 5004 | |
| 5005 | emxArray->data = (boolean_T *)newData; |
| 5006 | emxArray->allocatedSize = i; |
| 5007 | emxArray->canFreeData = true; |
| 5008 | } |
| 5009 | } |
| 5010 | |
| 5011 | static void carte_emxEnsureCapacity_int32_T(emxArray_int32_T_cartesian_tr_T |
| 5012 | *emxArray, int32_T oldNumel) |
| 5013 | { |
| 5014 | int32_T newNumel; |
| 5015 | int32_T i; |
| 5016 | void *newData; |
| 5017 | if (oldNumel < 0) { |
| 5018 | oldNumel = 0; |
| 5019 | } |
| 5020 | |
| 5021 | newNumel = 1; |
| 5022 | for (i = 0; i < emxArray->numDimensions; i++) { |
| 5023 | newNumel *= emxArray->size[i]; |
| 5024 | } |
| 5025 | |
| 5026 | if (newNumel > emxArray->allocatedSize) { |
| 5027 | i = emxArray->allocatedSize; |
| 5028 | if (i < 16) { |
| 5029 | i = 16; |
| 5030 | } |
| 5031 | |
| 5032 | while (i < newNumel) { |
| 5033 | if (i > 1073741823) { |
| 5034 | i = MAX_int32_T; |
| 5035 | } else { |
| 5036 | i <<= 1; |
| 5037 | } |
| 5038 | } |
| 5039 | |
| 5040 | newData = calloc(static_cast<uint32_T>(i), sizeof(int32_T)); |
| 5041 | if (emxArray->data != NULL) { |
| 5042 | memcpy(newData, emxArray->data, sizeof(int32_T) * oldNumel); |
| 5043 | if (emxArray->canFreeData) { |
| 5044 | free(emxArray->data); |
| 5045 | } |
| 5046 | } |
| 5047 | |
| 5048 | emxArray->data = (int32_T *)newData; |
| 5049 | emxArray->allocatedSize = i; |
| 5050 | emxArray->canFreeData = true; |
| 5051 | } |
| 5052 | } |
| 5053 | |
| 5054 | static real_T cartesian_trajectory_pla_norm_a(const real_T x[6]) |
| 5055 | { |
| 5056 | real_T y; |
| 5057 | real_T scale; |
| 5058 | real_T absxk; |
| 5059 | real_T t; |
| 5060 | int32_T b_k; |
| 5061 | y = 0.0; |
| 5062 | scale = 3.3121686421112381E-170; |
| 5063 | for (b_k = 0; b_k < 6; b_k++) { |
| 5064 | absxk = fabs(x[b_k]); |
| 5065 | if (absxk > scale) { |
| 5066 | t = scale / absxk; |
| 5067 | y = y * t * t + 1.0; |
| 5068 | scale = absxk; |
| 5069 | } else { |
| 5070 | t = absxk / scale; |
| 5071 | y += t * t; |
| 5072 | } |
| 5073 | } |
| 5074 | |
| 5075 | return scale * sqrt(y); |
| 5076 | } |
| 5077 | |
| 5078 | static real_T SystemTimeProvider_getElapsedTi(const |
| 5079 | f_robotics_core_internal_Syst_T *obj) |
| 5080 | { |
| 5081 | real_T systemTime; |
| 5082 | systemTime = ctimefun(); |
| 5083 | return systemTime - obj->StartTime; |
| 5084 | } |
| 5085 | |
| 5086 | static real_T cartesian_trajectory_p_xnrm2_as(int32_T n, const |
| 5087 | emxArray_real_T_cartesian_tra_T *x, int32_T ix0) |
| 5088 | { |
| 5089 | real_T y; |
| 5090 | y = 0.0; |
| 5091 | if (n >= 1) { |
| 5092 | if (n == 1) { |
| 5093 | y = fabs(x->data[ix0 - 1]); |
| 5094 | } else { |
| 5095 | cartesian_trajectory_planner_B.scale_j = 3.3121686421112381E-170; |
| 5096 | cartesian_trajectory_planner_B.kend_f = ix0 + n; |
| 5097 | for (cartesian_trajectory_planner_B.k_i = ix0; |
| 5098 | cartesian_trajectory_planner_B.k_i < |
| 5099 | cartesian_trajectory_planner_B.kend_f; |
| 5100 | cartesian_trajectory_planner_B.k_i++) { |
| 5101 | cartesian_trajectory_planner_B.absxk_o = fabs(x-> |
| 5102 | data[cartesian_trajectory_planner_B.k_i - 1]); |
| 5103 | if (cartesian_trajectory_planner_B.absxk_o > |
| 5104 | cartesian_trajectory_planner_B.scale_j) { |
| 5105 | cartesian_trajectory_planner_B.t_f = |
| 5106 | cartesian_trajectory_planner_B.scale_j / |
| 5107 | cartesian_trajectory_planner_B.absxk_o; |
| 5108 | y = y * cartesian_trajectory_planner_B.t_f * |
| 5109 | cartesian_trajectory_planner_B.t_f + 1.0; |
| 5110 | cartesian_trajectory_planner_B.scale_j = |
| 5111 | cartesian_trajectory_planner_B.absxk_o; |
| 5112 | } else { |
| 5113 | cartesian_trajectory_planner_B.t_f = |
| 5114 | cartesian_trajectory_planner_B.absxk_o / |
| 5115 | cartesian_trajectory_planner_B.scale_j; |
| 5116 | y += cartesian_trajectory_planner_B.t_f * |
| 5117 | cartesian_trajectory_planner_B.t_f; |
| 5118 | } |
| 5119 | } |
| 5120 | |
| 5121 | y = cartesian_trajectory_planner_B.scale_j * sqrt(y); |
| 5122 | } |
| 5123 | } |
| 5124 | |
| 5125 | return y; |
| 5126 | } |
| 5127 | |
| 5128 | static void cartesian_trajectory_pla_qrpf_a(const |
| 5129 | emxArray_real_T_cartesian_tra_T *A, int32_T m, int32_T n, |
| 5130 | emxArray_real_T_cartesian_tra_T *tau, const emxArray_int32_T_cartesian_tr_T |
| 5131 | *jpvt, emxArray_real_T_cartesian_tra_T *b_A, emxArray_int32_T_cartesian_tr_T |
| 5132 | *b_jpvt) |
| 5133 | { |
| 5134 | emxArray_real_T_cartesian_tra_T *work; |
| 5135 | emxArray_real_T_cartesian_tra_T *vn1; |
| 5136 | emxArray_real_T_cartesian_tra_T *vn2; |
| 5137 | emxArray_real_T_cartesian_tra_T *c_x; |
| 5138 | int32_T exitg1; |
| 5139 | boolean_T exitg2; |
| 5140 | cartesian_trajectory_planner_B.kend = b_jpvt->size[0] * b_jpvt->size[1]; |
| 5141 | b_jpvt->size[0] = 1; |
| 5142 | b_jpvt->size[1] = jpvt->size[1]; |
| 5143 | carte_emxEnsureCapacity_int32_T(b_jpvt, cartesian_trajectory_planner_B.kend); |
| 5144 | cartesian_trajectory_planner_B.ix_e = jpvt->size[0] * jpvt->size[1] - 1; |
| 5145 | for (cartesian_trajectory_planner_B.kend = 0; |
| 5146 | cartesian_trajectory_planner_B.kend <= |
| 5147 | cartesian_trajectory_planner_B.ix_e; cartesian_trajectory_planner_B.kend |
| 5148 | ++) { |
| 5149 | b_jpvt->data[cartesian_trajectory_planner_B.kend] = jpvt-> |
| 5150 | data[cartesian_trajectory_planner_B.kend]; |
| 5151 | } |
| 5152 | |
| 5153 | cartesian_trajectory_planner_B.kend = b_A->size[0] * b_A->size[1]; |
| 5154 | b_A->size[0] = A->size[0]; |
| 5155 | b_A->size[1] = A->size[1]; |
| 5156 | cartes_emxEnsureCapacity_real_T(b_A, cartesian_trajectory_planner_B.kend); |
| 5157 | cartesian_trajectory_planner_B.ix_e = A->size[0] * A->size[1] - 1; |
| 5158 | for (cartesian_trajectory_planner_B.kend = 0; |
| 5159 | cartesian_trajectory_planner_B.kend <= |
| 5160 | cartesian_trajectory_planner_B.ix_e; cartesian_trajectory_planner_B.kend |
| 5161 | ++) { |
| 5162 | b_A->data[cartesian_trajectory_planner_B.kend] = A-> |
| 5163 | data[cartesian_trajectory_planner_B.kend]; |
| 5164 | } |
| 5165 | |
| 5166 | cartesian_trajec_emxInit_real_T(&work, 1); |
| 5167 | cartesian_trajectory_planner_B.ma = A->size[0]; |
| 5168 | if (m < n) { |
| 5169 | cartesian_trajectory_planner_B.m_nq = m; |
| 5170 | } else { |
| 5171 | cartesian_trajectory_planner_B.m_nq = n; |
| 5172 | } |
| 5173 | |
| 5174 | cartesian_trajectory_planner_B.minmn_n = cartesian_trajectory_planner_B.m_nq - |
| 5175 | 1; |
| 5176 | cartesian_trajectory_planner_B.kend = work->size[0]; |
| 5177 | work->size[0] = A->size[1]; |
| 5178 | cartes_emxEnsureCapacity_real_T(work, cartesian_trajectory_planner_B.kend); |
| 5179 | cartesian_trajectory_planner_B.ix_e = A->size[1]; |
| 5180 | for (cartesian_trajectory_planner_B.kend = 0; |
| 5181 | cartesian_trajectory_planner_B.kend < cartesian_trajectory_planner_B.ix_e; |
| 5182 | cartesian_trajectory_planner_B.kend++) { |
| 5183 | work->data[cartesian_trajectory_planner_B.kend] = 0.0; |
| 5184 | } |
| 5185 | |
| 5186 | cartesian_trajec_emxInit_real_T(&vn1, 1); |
| 5187 | cartesian_trajectory_planner_B.kend = vn1->size[0]; |
| 5188 | vn1->size[0] = A->size[1]; |
| 5189 | cartes_emxEnsureCapacity_real_T(vn1, cartesian_trajectory_planner_B.kend); |
| 5190 | cartesian_trajectory_planner_B.ix_e = A->size[1]; |
| 5191 | for (cartesian_trajectory_planner_B.kend = 0; |
| 5192 | cartesian_trajectory_planner_B.kend < cartesian_trajectory_planner_B.ix_e; |
| 5193 | cartesian_trajectory_planner_B.kend++) { |
| 5194 | vn1->data[cartesian_trajectory_planner_B.kend] = 0.0; |
| 5195 | } |
| 5196 | |
| 5197 | cartesian_trajec_emxInit_real_T(&vn2, 1); |
| 5198 | cartesian_trajectory_planner_B.kend = vn2->size[0]; |
| 5199 | vn2->size[0] = A->size[1]; |
| 5200 | cartes_emxEnsureCapacity_real_T(vn2, cartesian_trajectory_planner_B.kend); |
| 5201 | cartesian_trajectory_planner_B.ix_e = A->size[1]; |
| 5202 | for (cartesian_trajectory_planner_B.kend = 0; |
| 5203 | cartesian_trajectory_planner_B.kend < cartesian_trajectory_planner_B.ix_e; |
| 5204 | cartesian_trajectory_planner_B.kend++) { |
| 5205 | vn2->data[cartesian_trajectory_planner_B.kend] = 0.0; |
| 5206 | } |
| 5207 | |
| 5208 | for (cartesian_trajectory_planner_B.m_nq = 0; |
| 5209 | cartesian_trajectory_planner_B.m_nq < n; |
| 5210 | cartesian_trajectory_planner_B.m_nq++) { |
| 5211 | cartesian_trajectory_planner_B.pvt = cartesian_trajectory_planner_B.m_nq * |
| 5212 | cartesian_trajectory_planner_B.ma; |
| 5213 | cartesian_trajectory_planner_B.smax = 0.0; |
| 5214 | if (m >= 1) { |
| 5215 | if (m == 1) { |
| 5216 | cartesian_trajectory_planner_B.smax = fabs(A-> |
| 5217 | data[cartesian_trajectory_planner_B.pvt]); |
| 5218 | } else { |
| 5219 | cartesian_trajectory_planner_B.scale_f = 3.3121686421112381E-170; |
| 5220 | cartesian_trajectory_planner_B.kend = cartesian_trajectory_planner_B.pvt |
| 5221 | + m; |
| 5222 | for (cartesian_trajectory_planner_B.itemp = |
| 5223 | cartesian_trajectory_planner_B.pvt + 1; |
| 5224 | cartesian_trajectory_planner_B.itemp <= |
| 5225 | cartesian_trajectory_planner_B.kend; |
| 5226 | cartesian_trajectory_planner_B.itemp++) { |
| 5227 | cartesian_trajectory_planner_B.absxk = fabs(A-> |
| 5228 | data[cartesian_trajectory_planner_B.itemp - 1]); |
| 5229 | if (cartesian_trajectory_planner_B.absxk > |
| 5230 | cartesian_trajectory_planner_B.scale_f) { |
| 5231 | cartesian_trajectory_planner_B.t = |
| 5232 | cartesian_trajectory_planner_B.scale_f / |
| 5233 | cartesian_trajectory_planner_B.absxk; |
| 5234 | cartesian_trajectory_planner_B.smax = |
| 5235 | cartesian_trajectory_planner_B.smax * |
| 5236 | cartesian_trajectory_planner_B.t * |
| 5237 | cartesian_trajectory_planner_B.t + 1.0; |
| 5238 | cartesian_trajectory_planner_B.scale_f = |
| 5239 | cartesian_trajectory_planner_B.absxk; |
| 5240 | } else { |
| 5241 | cartesian_trajectory_planner_B.t = |
| 5242 | cartesian_trajectory_planner_B.absxk / |
| 5243 | cartesian_trajectory_planner_B.scale_f; |
| 5244 | cartesian_trajectory_planner_B.smax += |
| 5245 | cartesian_trajectory_planner_B.t * |
| 5246 | cartesian_trajectory_planner_B.t; |
| 5247 | } |
| 5248 | } |
| 5249 | |
| 5250 | cartesian_trajectory_planner_B.smax = |
| 5251 | cartesian_trajectory_planner_B.scale_f * sqrt |
| 5252 | (cartesian_trajectory_planner_B.smax); |
| 5253 | } |
| 5254 | } |
| 5255 | |
| 5256 | vn1->data[cartesian_trajectory_planner_B.m_nq] = |
| 5257 | cartesian_trajectory_planner_B.smax; |
| 5258 | vn2->data[cartesian_trajectory_planner_B.m_nq] = vn1-> |
| 5259 | data[cartesian_trajectory_planner_B.m_nq]; |
| 5260 | } |
| 5261 | |
| 5262 | cartesian_trajec_emxInit_real_T(&c_x, 2); |
| 5263 | for (cartesian_trajectory_planner_B.m_nq = 0; |
| 5264 | cartesian_trajectory_planner_B.m_nq <= |
| 5265 | cartesian_trajectory_planner_B.minmn_n; |
| 5266 | cartesian_trajectory_planner_B.m_nq++) { |
| 5267 | cartesian_trajectory_planner_B.iy_b = cartesian_trajectory_planner_B.m_nq * |
| 5268 | cartesian_trajectory_planner_B.ma; |
| 5269 | cartesian_trajectory_planner_B.ii = cartesian_trajectory_planner_B.iy_b + |
| 5270 | cartesian_trajectory_planner_B.m_nq; |
| 5271 | cartesian_trajectory_planner_B.nmi = n - cartesian_trajectory_planner_B.m_nq; |
| 5272 | cartesian_trajectory_planner_B.mmi = (m - |
| 5273 | cartesian_trajectory_planner_B.m_nq) - 1; |
| 5274 | if (cartesian_trajectory_planner_B.nmi < 1) { |
| 5275 | cartesian_trajectory_planner_B.kend = 0; |
| 5276 | } else { |
| 5277 | cartesian_trajectory_planner_B.kend = 1; |
| 5278 | if (cartesian_trajectory_planner_B.nmi > 1) { |
| 5279 | cartesian_trajectory_planner_B.ix_e = |
| 5280 | cartesian_trajectory_planner_B.m_nq; |
| 5281 | cartesian_trajectory_planner_B.smax = fabs(vn1-> |
| 5282 | data[cartesian_trajectory_planner_B.m_nq]); |
| 5283 | for (cartesian_trajectory_planner_B.itemp = 2; |
| 5284 | cartesian_trajectory_planner_B.itemp <= |
| 5285 | cartesian_trajectory_planner_B.nmi; |
| 5286 | cartesian_trajectory_planner_B.itemp++) { |
| 5287 | cartesian_trajectory_planner_B.ix_e++; |
| 5288 | cartesian_trajectory_planner_B.scale_f = fabs(vn1-> |
| 5289 | data[cartesian_trajectory_planner_B.ix_e]); |
| 5290 | if (cartesian_trajectory_planner_B.scale_f > |
| 5291 | cartesian_trajectory_planner_B.smax) { |
| 5292 | cartesian_trajectory_planner_B.kend = |
| 5293 | cartesian_trajectory_planner_B.itemp; |
| 5294 | cartesian_trajectory_planner_B.smax = |
| 5295 | cartesian_trajectory_planner_B.scale_f; |
| 5296 | } |
| 5297 | } |
| 5298 | } |
| 5299 | } |
| 5300 | |
| 5301 | cartesian_trajectory_planner_B.pvt = (cartesian_trajectory_planner_B.m_nq + |
| 5302 | cartesian_trajectory_planner_B.kend) - 1; |
| 5303 | if (cartesian_trajectory_planner_B.pvt + 1 != |
| 5304 | cartesian_trajectory_planner_B.m_nq + 1) { |
| 5305 | cartesian_trajectory_planner_B.kend = c_x->size[0] * c_x->size[1]; |
| 5306 | c_x->size[0] = b_A->size[0]; |
| 5307 | c_x->size[1] = b_A->size[1]; |
| 5308 | cartes_emxEnsureCapacity_real_T(c_x, cartesian_trajectory_planner_B.kend); |
| 5309 | cartesian_trajectory_planner_B.ix_e = b_A->size[0] * b_A->size[1] - 1; |
| 5310 | for (cartesian_trajectory_planner_B.kend = 0; |
| 5311 | cartesian_trajectory_planner_B.kend <= |
| 5312 | cartesian_trajectory_planner_B.ix_e; |
| 5313 | cartesian_trajectory_planner_B.kend++) { |
| 5314 | c_x->data[cartesian_trajectory_planner_B.kend] = b_A-> |
| 5315 | data[cartesian_trajectory_planner_B.kend]; |
| 5316 | } |
| 5317 | |
| 5318 | cartesian_trajectory_planner_B.ix_e = cartesian_trajectory_planner_B.pvt * |
| 5319 | cartesian_trajectory_planner_B.ma; |
| 5320 | for (cartesian_trajectory_planner_B.itemp = 0; |
| 5321 | cartesian_trajectory_planner_B.itemp < m; |
| 5322 | cartesian_trajectory_planner_B.itemp++) { |
| 5323 | cartesian_trajectory_planner_B.scale_f = c_x-> |
| 5324 | data[cartesian_trajectory_planner_B.ix_e]; |
| 5325 | c_x->data[cartesian_trajectory_planner_B.ix_e] = c_x-> |
| 5326 | data[cartesian_trajectory_planner_B.iy_b]; |
| 5327 | c_x->data[cartesian_trajectory_planner_B.iy_b] = |
| 5328 | cartesian_trajectory_planner_B.scale_f; |
| 5329 | cartesian_trajectory_planner_B.ix_e++; |
| 5330 | cartesian_trajectory_planner_B.iy_b++; |
| 5331 | } |
| 5332 | |
| 5333 | cartesian_trajectory_planner_B.kend = b_A->size[0] * b_A->size[1]; |
| 5334 | b_A->size[0] = c_x->size[0]; |
| 5335 | b_A->size[1] = c_x->size[1]; |
| 5336 | cartes_emxEnsureCapacity_real_T(b_A, cartesian_trajectory_planner_B.kend); |
| 5337 | cartesian_trajectory_planner_B.ix_e = c_x->size[0] * c_x->size[1] - 1; |
| 5338 | for (cartesian_trajectory_planner_B.kend = 0; |
| 5339 | cartesian_trajectory_planner_B.kend <= |
| 5340 | cartesian_trajectory_planner_B.ix_e; |
| 5341 | cartesian_trajectory_planner_B.kend++) { |
| 5342 | b_A->data[cartesian_trajectory_planner_B.kend] = c_x-> |
| 5343 | data[cartesian_trajectory_planner_B.kend]; |
| 5344 | } |
| 5345 | |
| 5346 | cartesian_trajectory_planner_B.itemp = b_jpvt-> |
| 5347 | data[cartesian_trajectory_planner_B.pvt]; |
| 5348 | b_jpvt->data[cartesian_trajectory_planner_B.pvt] = b_jpvt-> |
| 5349 | data[cartesian_trajectory_planner_B.m_nq]; |
| 5350 | b_jpvt->data[cartesian_trajectory_planner_B.m_nq] = |
| 5351 | cartesian_trajectory_planner_B.itemp; |
| 5352 | vn1->data[cartesian_trajectory_planner_B.pvt] = vn1-> |
| 5353 | data[cartesian_trajectory_planner_B.m_nq]; |
| 5354 | vn2->data[cartesian_trajectory_planner_B.pvt] = vn2-> |
| 5355 | data[cartesian_trajectory_planner_B.m_nq]; |
| 5356 | } |
| 5357 | |
| 5358 | if (cartesian_trajectory_planner_B.m_nq + 1 < m) { |
| 5359 | cartesian_trajectory_planner_B.pvt = cartesian_trajectory_planner_B.ii + 2; |
| 5360 | cartesian_trajectory_planner_B.kend = c_x->size[0] * c_x->size[1]; |
| 5361 | c_x->size[0] = b_A->size[0]; |
| 5362 | c_x->size[1] = b_A->size[1]; |
| 5363 | cartes_emxEnsureCapacity_real_T(c_x, cartesian_trajectory_planner_B.kend); |
| 5364 | cartesian_trajectory_planner_B.ix_e = b_A->size[0] * b_A->size[1] - 1; |
| 5365 | for (cartesian_trajectory_planner_B.kend = 0; |
| 5366 | cartesian_trajectory_planner_B.kend <= |
| 5367 | cartesian_trajectory_planner_B.ix_e; |
| 5368 | cartesian_trajectory_planner_B.kend++) { |
| 5369 | c_x->data[cartesian_trajectory_planner_B.kend] = b_A-> |
| 5370 | data[cartesian_trajectory_planner_B.kend]; |
| 5371 | } |
| 5372 | |
| 5373 | cartesian_trajectory_planner_B.smax = b_A-> |
| 5374 | data[cartesian_trajectory_planner_B.ii]; |
| 5375 | tau->data[cartesian_trajectory_planner_B.m_nq] = 0.0; |
| 5376 | if (cartesian_trajectory_planner_B.mmi + 1 > 0) { |
| 5377 | cartesian_trajectory_planner_B.scale_f = cartesian_trajectory_p_xnrm2_as |
| 5378 | (cartesian_trajectory_planner_B.mmi, b_A, |
| 5379 | cartesian_trajectory_planner_B.ii + 2); |
| 5380 | if (cartesian_trajectory_planner_B.scale_f != 0.0) { |
| 5381 | cartesian_trajectory_planner_B.scale_f = rt_hypotd_snf(b_A-> |
| 5382 | data[cartesian_trajectory_planner_B.ii], |
| 5383 | cartesian_trajectory_planner_B.scale_f); |
| 5384 | if (b_A->data[cartesian_trajectory_planner_B.ii] >= 0.0) { |
| 5385 | cartesian_trajectory_planner_B.scale_f = |
| 5386 | -cartesian_trajectory_planner_B.scale_f; |
| 5387 | } |
| 5388 | |
| 5389 | if (fabs(cartesian_trajectory_planner_B.scale_f) < |
| 5390 | 1.0020841800044864E-292) { |
| 5391 | cartesian_trajectory_planner_B.kend = -1; |
| 5392 | cartesian_trajectory_planner_B.ix_e = |
| 5393 | (cartesian_trajectory_planner_B.ii + |
| 5394 | cartesian_trajectory_planner_B.mmi) + 1; |
| 5395 | do { |
| 5396 | cartesian_trajectory_planner_B.kend++; |
| 5397 | for (cartesian_trajectory_planner_B.itemp = |
| 5398 | cartesian_trajectory_planner_B.pvt; |
| 5399 | cartesian_trajectory_planner_B.itemp <= |
| 5400 | cartesian_trajectory_planner_B.ix_e; |
| 5401 | cartesian_trajectory_planner_B.itemp++) { |
| 5402 | c_x->data[cartesian_trajectory_planner_B.itemp - 1] *= |
| 5403 | 9.9792015476736E+291; |
| 5404 | } |
| 5405 | |
| 5406 | cartesian_trajectory_planner_B.scale_f *= 9.9792015476736E+291; |
| 5407 | cartesian_trajectory_planner_B.smax *= 9.9792015476736E+291; |
| 5408 | } while (!(fabs(cartesian_trajectory_planner_B.scale_f) >= |
| 5409 | 1.0020841800044864E-292)); |
| 5410 | |
| 5411 | cartesian_trajectory_planner_B.scale_f = rt_hypotd_snf |
| 5412 | (cartesian_trajectory_planner_B.smax, |
| 5413 | cartesian_trajectory_p_xnrm2_as |
| 5414 | (cartesian_trajectory_planner_B.mmi, c_x, |
| 5415 | cartesian_trajectory_planner_B.ii + 2)); |
| 5416 | if (cartesian_trajectory_planner_B.smax >= 0.0) { |
| 5417 | cartesian_trajectory_planner_B.scale_f = |
| 5418 | -cartesian_trajectory_planner_B.scale_f; |
| 5419 | } |
| 5420 | |
| 5421 | tau->data[cartesian_trajectory_planner_B.m_nq] = |
| 5422 | (cartesian_trajectory_planner_B.scale_f - |
| 5423 | cartesian_trajectory_planner_B.smax) / |
| 5424 | cartesian_trajectory_planner_B.scale_f; |
| 5425 | cartesian_trajectory_planner_B.smax = 1.0 / |
| 5426 | (cartesian_trajectory_planner_B.smax - |
| 5427 | cartesian_trajectory_planner_B.scale_f); |
| 5428 | for (cartesian_trajectory_planner_B.itemp = |
| 5429 | cartesian_trajectory_planner_B.pvt; |
| 5430 | cartesian_trajectory_planner_B.itemp <= |
| 5431 | cartesian_trajectory_planner_B.ix_e; |
| 5432 | cartesian_trajectory_planner_B.itemp++) { |
| 5433 | c_x->data[cartesian_trajectory_planner_B.itemp - 1] *= |
| 5434 | cartesian_trajectory_planner_B.smax; |
| 5435 | } |
| 5436 | |
| 5437 | for (cartesian_trajectory_planner_B.itemp = 0; |
| 5438 | cartesian_trajectory_planner_B.itemp <= |
| 5439 | cartesian_trajectory_planner_B.kend; |
| 5440 | cartesian_trajectory_planner_B.itemp++) { |
| 5441 | cartesian_trajectory_planner_B.scale_f *= 1.0020841800044864E-292; |
| 5442 | } |
| 5443 | |
| 5444 | cartesian_trajectory_planner_B.smax = |
| 5445 | cartesian_trajectory_planner_B.scale_f; |
| 5446 | } else { |
| 5447 | tau->data[cartesian_trajectory_planner_B.m_nq] = |
| 5448 | (cartesian_trajectory_planner_B.scale_f - b_A-> |
| 5449 | data[cartesian_trajectory_planner_B.ii]) / |
| 5450 | cartesian_trajectory_planner_B.scale_f; |
| 5451 | cartesian_trajectory_planner_B.smax = 1.0 / (b_A-> |
| 5452 | data[cartesian_trajectory_planner_B.ii] - |
| 5453 | cartesian_trajectory_planner_B.scale_f); |
| 5454 | cartesian_trajectory_planner_B.kend = c_x->size[0] * c_x->size[1]; |
| 5455 | c_x->size[0] = b_A->size[0]; |
| 5456 | c_x->size[1] = b_A->size[1]; |
| 5457 | cartes_emxEnsureCapacity_real_T(c_x, |
| 5458 | cartesian_trajectory_planner_B.kend); |
| 5459 | cartesian_trajectory_planner_B.ix_e = b_A->size[0] * b_A->size[1] - |
| 5460 | 1; |
| 5461 | for (cartesian_trajectory_planner_B.kend = 0; |
| 5462 | cartesian_trajectory_planner_B.kend <= |
| 5463 | cartesian_trajectory_planner_B.ix_e; |
| 5464 | cartesian_trajectory_planner_B.kend++) { |
| 5465 | c_x->data[cartesian_trajectory_planner_B.kend] = b_A-> |
| 5466 | data[cartesian_trajectory_planner_B.kend]; |
| 5467 | } |
| 5468 | |
| 5469 | cartesian_trajectory_planner_B.b_i2 = |
| 5470 | (cartesian_trajectory_planner_B.ii + |
| 5471 | cartesian_trajectory_planner_B.mmi) + 1; |
| 5472 | for (cartesian_trajectory_planner_B.itemp = |
| 5473 | cartesian_trajectory_planner_B.pvt; |
| 5474 | cartesian_trajectory_planner_B.itemp <= |
| 5475 | cartesian_trajectory_planner_B.b_i2; |
| 5476 | cartesian_trajectory_planner_B.itemp++) { |
| 5477 | c_x->data[cartesian_trajectory_planner_B.itemp - 1] *= |
| 5478 | cartesian_trajectory_planner_B.smax; |
| 5479 | } |
| 5480 | |
| 5481 | cartesian_trajectory_planner_B.smax = |
| 5482 | cartesian_trajectory_planner_B.scale_f; |
| 5483 | } |
| 5484 | } |
| 5485 | } |
| 5486 | |
| 5487 | cartesian_trajectory_planner_B.kend = b_A->size[0] * b_A->size[1]; |
| 5488 | b_A->size[0] = c_x->size[0]; |
| 5489 | b_A->size[1] = c_x->size[1]; |
| 5490 | cartes_emxEnsureCapacity_real_T(b_A, cartesian_trajectory_planner_B.kend); |
| 5491 | cartesian_trajectory_planner_B.ix_e = c_x->size[0] * c_x->size[1] - 1; |
| 5492 | for (cartesian_trajectory_planner_B.kend = 0; |
| 5493 | cartesian_trajectory_planner_B.kend <= |
| 5494 | cartesian_trajectory_planner_B.ix_e; |
| 5495 | cartesian_trajectory_planner_B.kend++) { |
| 5496 | b_A->data[cartesian_trajectory_planner_B.kend] = c_x-> |
| 5497 | data[cartesian_trajectory_planner_B.kend]; |
| 5498 | } |
| 5499 | |
| 5500 | b_A->data[cartesian_trajectory_planner_B.ii] = |
| 5501 | cartesian_trajectory_planner_B.smax; |
| 5502 | } else { |
| 5503 | tau->data[cartesian_trajectory_planner_B.m_nq] = 0.0; |
| 5504 | } |
| 5505 | |
| 5506 | if (cartesian_trajectory_planner_B.m_nq + 1 < n) { |
| 5507 | cartesian_trajectory_planner_B.smax = b_A-> |
| 5508 | data[cartesian_trajectory_planner_B.ii]; |
| 5509 | b_A->data[cartesian_trajectory_planner_B.ii] = 1.0; |
| 5510 | cartesian_trajectory_planner_B.pvt = (cartesian_trajectory_planner_B.ii + |
| 5511 | cartesian_trajectory_planner_B.ma) + 1; |
| 5512 | cartesian_trajectory_planner_B.kend = c_x->size[0] * c_x->size[1]; |
| 5513 | c_x->size[0] = b_A->size[0]; |
| 5514 | c_x->size[1] = b_A->size[1]; |
| 5515 | cartes_emxEnsureCapacity_real_T(c_x, cartesian_trajectory_planner_B.kend); |
| 5516 | cartesian_trajectory_planner_B.ix_e = b_A->size[0] * b_A->size[1] - 1; |
| 5517 | for (cartesian_trajectory_planner_B.kend = 0; |
| 5518 | cartesian_trajectory_planner_B.kend <= |
| 5519 | cartesian_trajectory_planner_B.ix_e; |
| 5520 | cartesian_trajectory_planner_B.kend++) { |
| 5521 | c_x->data[cartesian_trajectory_planner_B.kend] = b_A-> |
| 5522 | data[cartesian_trajectory_planner_B.kend]; |
| 5523 | } |
| 5524 | |
| 5525 | if (tau->data[cartesian_trajectory_planner_B.m_nq] != 0.0) { |
| 5526 | cartesian_trajectory_planner_B.itemp = |
| 5527 | cartesian_trajectory_planner_B.mmi; |
| 5528 | cartesian_trajectory_planner_B.kend = cartesian_trajectory_planner_B.ii |
| 5529 | + cartesian_trajectory_planner_B.mmi; |
| 5530 | while ((cartesian_trajectory_planner_B.itemp + 1 > 0) && (b_A-> |
| 5531 | data[cartesian_trajectory_planner_B.kend] == 0.0)) { |
| 5532 | cartesian_trajectory_planner_B.itemp--; |
| 5533 | cartesian_trajectory_planner_B.kend--; |
| 5534 | } |
| 5535 | |
| 5536 | cartesian_trajectory_planner_B.nmi--; |
| 5537 | exitg2 = false; |
| 5538 | while ((!exitg2) && (cartesian_trajectory_planner_B.nmi > 0)) { |
| 5539 | cartesian_trajectory_planner_B.ix_e = |
| 5540 | (cartesian_trajectory_planner_B.nmi - 1) * |
| 5541 | cartesian_trajectory_planner_B.ma + |
| 5542 | cartesian_trajectory_planner_B.pvt; |
| 5543 | cartesian_trajectory_planner_B.kend = |
| 5544 | cartesian_trajectory_planner_B.ix_e; |
| 5545 | do { |
| 5546 | exitg1 = 0; |
| 5547 | if (cartesian_trajectory_planner_B.kend <= |
| 5548 | cartesian_trajectory_planner_B.ix_e + |
| 5549 | cartesian_trajectory_planner_B.itemp) { |
| 5550 | if (b_A->data[cartesian_trajectory_planner_B.kend - 1] != 0.0) { |
| 5551 | exitg1 = 1; |
| 5552 | } else { |
| 5553 | cartesian_trajectory_planner_B.kend++; |
| 5554 | } |
| 5555 | } else { |
| 5556 | cartesian_trajectory_planner_B.nmi--; |
| 5557 | exitg1 = 2; |
| 5558 | } |
| 5559 | } while (exitg1 == 0); |
| 5560 | |
| 5561 | if (exitg1 == 1) { |
| 5562 | exitg2 = true; |
| 5563 | } |
| 5564 | } |
| 5565 | |
| 5566 | cartesian_trajectory_planner_B.lastc = |
| 5567 | cartesian_trajectory_planner_B.nmi - 1; |
| 5568 | cartesian_trajectory_planner_B.kend = c_x->size[0] * c_x->size[1]; |
| 5569 | c_x->size[0] = b_A->size[0]; |
| 5570 | c_x->size[1] = b_A->size[1]; |
| 5571 | cartes_emxEnsureCapacity_real_T(c_x, cartesian_trajectory_planner_B.kend); |
| 5572 | cartesian_trajectory_planner_B.ix_e = b_A->size[0] * b_A->size[1] - 1; |
| 5573 | for (cartesian_trajectory_planner_B.kend = 0; |
| 5574 | cartesian_trajectory_planner_B.kend <= |
| 5575 | cartesian_trajectory_planner_B.ix_e; |
| 5576 | cartesian_trajectory_planner_B.kend++) { |
| 5577 | c_x->data[cartesian_trajectory_planner_B.kend] = b_A-> |
| 5578 | data[cartesian_trajectory_planner_B.kend]; |
| 5579 | } |
| 5580 | } else { |
| 5581 | cartesian_trajectory_planner_B.itemp = -1; |
| 5582 | cartesian_trajectory_planner_B.lastc = -1; |
| 5583 | } |
| 5584 | |
| 5585 | if (cartesian_trajectory_planner_B.itemp + 1 > 0) { |
| 5586 | if (cartesian_trajectory_planner_B.lastc + 1 != 0) { |
| 5587 | for (cartesian_trajectory_planner_B.kend = 0; |
| 5588 | cartesian_trajectory_planner_B.kend <= |
| 5589 | cartesian_trajectory_planner_B.lastc; |
| 5590 | cartesian_trajectory_planner_B.kend++) { |
| 5591 | work->data[cartesian_trajectory_planner_B.kend] = 0.0; |
| 5592 | } |
| 5593 | |
| 5594 | cartesian_trajectory_planner_B.iy_b = 0; |
| 5595 | cartesian_trajectory_planner_B.b_i2 = |
| 5596 | cartesian_trajectory_planner_B.ma * |
| 5597 | cartesian_trajectory_planner_B.lastc + |
| 5598 | cartesian_trajectory_planner_B.pvt; |
| 5599 | for (cartesian_trajectory_planner_B.nmi = |
| 5600 | cartesian_trajectory_planner_B.pvt; |
| 5601 | cartesian_trajectory_planner_B.ma < 0 ? |
| 5602 | cartesian_trajectory_planner_B.nmi >= |
| 5603 | cartesian_trajectory_planner_B.b_i2 : |
| 5604 | cartesian_trajectory_planner_B.nmi <= |
| 5605 | cartesian_trajectory_planner_B.b_i2; |
| 5606 | cartesian_trajectory_planner_B.nmi += |
| 5607 | cartesian_trajectory_planner_B.ma) { |
| 5608 | cartesian_trajectory_planner_B.ix_e = |
| 5609 | cartesian_trajectory_planner_B.ii; |
| 5610 | cartesian_trajectory_planner_B.scale_f = 0.0; |
| 5611 | cartesian_trajectory_planner_B.d_a = |
| 5612 | cartesian_trajectory_planner_B.nmi + |
| 5613 | cartesian_trajectory_planner_B.itemp; |
| 5614 | for (cartesian_trajectory_planner_B.kend = |
| 5615 | cartesian_trajectory_planner_B.nmi; |
| 5616 | cartesian_trajectory_planner_B.kend <= |
| 5617 | cartesian_trajectory_planner_B.d_a; |
| 5618 | cartesian_trajectory_planner_B.kend++) { |
| 5619 | cartesian_trajectory_planner_B.scale_f += c_x-> |
| 5620 | data[cartesian_trajectory_planner_B.kend - 1] * c_x-> |
| 5621 | data[cartesian_trajectory_planner_B.ix_e]; |
| 5622 | cartesian_trajectory_planner_B.ix_e++; |
| 5623 | } |
| 5624 | |
| 5625 | work->data[cartesian_trajectory_planner_B.iy_b] += |
| 5626 | cartesian_trajectory_planner_B.scale_f; |
| 5627 | cartesian_trajectory_planner_B.iy_b++; |
| 5628 | } |
| 5629 | } |
| 5630 | |
| 5631 | if (!(-tau->data[cartesian_trajectory_planner_B.m_nq] == 0.0)) { |
| 5632 | cartesian_trajectory_planner_B.iy_b = 0; |
| 5633 | for (cartesian_trajectory_planner_B.kend = 0; |
| 5634 | cartesian_trajectory_planner_B.kend <= |
| 5635 | cartesian_trajectory_planner_B.lastc; |
| 5636 | cartesian_trajectory_planner_B.kend++) { |
| 5637 | if (work->data[cartesian_trajectory_planner_B.iy_b] != 0.0) { |
| 5638 | cartesian_trajectory_planner_B.scale_f = work-> |
| 5639 | data[cartesian_trajectory_planner_B.iy_b] * -tau-> |
| 5640 | data[cartesian_trajectory_planner_B.m_nq]; |
| 5641 | cartesian_trajectory_planner_B.ix_e = |
| 5642 | cartesian_trajectory_planner_B.ii; |
| 5643 | cartesian_trajectory_planner_B.b_i2 = |
| 5644 | cartesian_trajectory_planner_B.itemp + |
| 5645 | cartesian_trajectory_planner_B.pvt; |
| 5646 | for (cartesian_trajectory_planner_B.nmi = |
| 5647 | cartesian_trajectory_planner_B.pvt; |
| 5648 | cartesian_trajectory_planner_B.nmi <= |
| 5649 | cartesian_trajectory_planner_B.b_i2; |
| 5650 | cartesian_trajectory_planner_B.nmi++) { |
| 5651 | c_x->data[cartesian_trajectory_planner_B.nmi - 1] += c_x-> |
| 5652 | data[cartesian_trajectory_planner_B.ix_e] * |
| 5653 | cartesian_trajectory_planner_B.scale_f; |
| 5654 | cartesian_trajectory_planner_B.ix_e++; |
| 5655 | } |
| 5656 | } |
| 5657 | |
| 5658 | cartesian_trajectory_planner_B.iy_b++; |
| 5659 | cartesian_trajectory_planner_B.pvt += |
| 5660 | cartesian_trajectory_planner_B.ma; |
| 5661 | } |
| 5662 | } |
| 5663 | } |
| 5664 | |
| 5665 | cartesian_trajectory_planner_B.kend = b_A->size[0] * b_A->size[1]; |
| 5666 | b_A->size[0] = c_x->size[0]; |
| 5667 | b_A->size[1] = c_x->size[1]; |
| 5668 | cartes_emxEnsureCapacity_real_T(b_A, cartesian_trajectory_planner_B.kend); |
| 5669 | cartesian_trajectory_planner_B.ix_e = c_x->size[0] * c_x->size[1] - 1; |
| 5670 | for (cartesian_trajectory_planner_B.kend = 0; |
| 5671 | cartesian_trajectory_planner_B.kend <= |
| 5672 | cartesian_trajectory_planner_B.ix_e; |
| 5673 | cartesian_trajectory_planner_B.kend++) { |
| 5674 | b_A->data[cartesian_trajectory_planner_B.kend] = c_x-> |
| 5675 | data[cartesian_trajectory_planner_B.kend]; |
| 5676 | } |
| 5677 | |
| 5678 | b_A->data[cartesian_trajectory_planner_B.ii] = |
| 5679 | cartesian_trajectory_planner_B.smax; |
| 5680 | } |
| 5681 | |
| 5682 | for (cartesian_trajectory_planner_B.ii = cartesian_trajectory_planner_B.m_nq |
| 5683 | + 2; cartesian_trajectory_planner_B.ii <= n; |
| 5684 | cartesian_trajectory_planner_B.ii++) { |
| 5685 | cartesian_trajectory_planner_B.pvt = ((cartesian_trajectory_planner_B.ii - |
| 5686 | 1) * cartesian_trajectory_planner_B.ma + |
| 5687 | cartesian_trajectory_planner_B.m_nq) + 1; |
| 5688 | if (vn1->data[cartesian_trajectory_planner_B.ii - 1] != 0.0) { |
| 5689 | cartesian_trajectory_planner_B.smax = fabs(b_A-> |
| 5690 | data[cartesian_trajectory_planner_B.pvt - 1]) / vn1-> |
| 5691 | data[cartesian_trajectory_planner_B.ii - 1]; |
| 5692 | cartesian_trajectory_planner_B.smax = 1.0 - |
| 5693 | cartesian_trajectory_planner_B.smax * |
| 5694 | cartesian_trajectory_planner_B.smax; |
| 5695 | if (cartesian_trajectory_planner_B.smax < 0.0) { |
| 5696 | cartesian_trajectory_planner_B.smax = 0.0; |
| 5697 | } |
| 5698 | |
| 5699 | cartesian_trajectory_planner_B.scale_f = vn1-> |
| 5700 | data[cartesian_trajectory_planner_B.ii - 1] / vn2-> |
| 5701 | data[cartesian_trajectory_planner_B.ii - 1]; |
| 5702 | cartesian_trajectory_planner_B.scale_f = |
| 5703 | cartesian_trajectory_planner_B.scale_f * |
| 5704 | cartesian_trajectory_planner_B.scale_f * |
| 5705 | cartesian_trajectory_planner_B.smax; |
| 5706 | if (cartesian_trajectory_planner_B.scale_f <= 1.4901161193847656E-8) { |
| 5707 | if (cartesian_trajectory_planner_B.m_nq + 1 < m) { |
| 5708 | cartesian_trajectory_planner_B.smax = 0.0; |
| 5709 | if (cartesian_trajectory_planner_B.mmi >= 1) { |
| 5710 | if (cartesian_trajectory_planner_B.mmi == 1) { |
| 5711 | cartesian_trajectory_planner_B.smax = fabs(b_A-> |
| 5712 | data[cartesian_trajectory_planner_B.pvt]); |
| 5713 | } else { |
| 5714 | cartesian_trajectory_planner_B.scale_f = 3.3121686421112381E-170; |
| 5715 | cartesian_trajectory_planner_B.kend = |
| 5716 | cartesian_trajectory_planner_B.pvt + |
| 5717 | cartesian_trajectory_planner_B.mmi; |
| 5718 | for (cartesian_trajectory_planner_B.itemp = |
| 5719 | cartesian_trajectory_planner_B.pvt + 1; |
| 5720 | cartesian_trajectory_planner_B.itemp <= |
| 5721 | cartesian_trajectory_planner_B.kend; |
| 5722 | cartesian_trajectory_planner_B.itemp++) { |
| 5723 | cartesian_trajectory_planner_B.absxk = fabs(b_A-> |
| 5724 | data[cartesian_trajectory_planner_B.itemp - 1]); |
| 5725 | if (cartesian_trajectory_planner_B.absxk > |
| 5726 | cartesian_trajectory_planner_B.scale_f) { |
| 5727 | cartesian_trajectory_planner_B.t = |
| 5728 | cartesian_trajectory_planner_B.scale_f / |
| 5729 | cartesian_trajectory_planner_B.absxk; |
| 5730 | cartesian_trajectory_planner_B.smax = |
| 5731 | cartesian_trajectory_planner_B.smax * |
| 5732 | cartesian_trajectory_planner_B.t * |
| 5733 | cartesian_trajectory_planner_B.t + 1.0; |
| 5734 | cartesian_trajectory_planner_B.scale_f = |
| 5735 | cartesian_trajectory_planner_B.absxk; |
| 5736 | } else { |
| 5737 | cartesian_trajectory_planner_B.t = |
| 5738 | cartesian_trajectory_planner_B.absxk / |
| 5739 | cartesian_trajectory_planner_B.scale_f; |
| 5740 | cartesian_trajectory_planner_B.smax += |
| 5741 | cartesian_trajectory_planner_B.t * |
| 5742 | cartesian_trajectory_planner_B.t; |
| 5743 | } |
| 5744 | } |
| 5745 | |
| 5746 | cartesian_trajectory_planner_B.smax = |
| 5747 | cartesian_trajectory_planner_B.scale_f * sqrt |
| 5748 | (cartesian_trajectory_planner_B.smax); |
| 5749 | } |
| 5750 | } |
| 5751 | |
| 5752 | vn1->data[cartesian_trajectory_planner_B.ii - 1] = |
| 5753 | cartesian_trajectory_planner_B.smax; |
| 5754 | vn2->data[cartesian_trajectory_planner_B.ii - 1] = vn1-> |
| 5755 | data[cartesian_trajectory_planner_B.ii - 1]; |
| 5756 | } else { |
| 5757 | vn1->data[cartesian_trajectory_planner_B.ii - 1] = 0.0; |
| 5758 | vn2->data[cartesian_trajectory_planner_B.ii - 1] = 0.0; |
| 5759 | } |
| 5760 | } else { |
| 5761 | vn1->data[cartesian_trajectory_planner_B.ii - 1] *= sqrt |
| 5762 | (cartesian_trajectory_planner_B.smax); |
| 5763 | } |
| 5764 | } |
| 5765 | } |
| 5766 | } |
| 5767 | |
| 5768 | cartesian_trajec_emxFree_real_T(&c_x); |
| 5769 | cartesian_trajec_emxFree_real_T(&vn2); |
| 5770 | cartesian_trajec_emxFree_real_T(&vn1); |
| 5771 | cartesian_trajec_emxFree_real_T(&work); |
| 5772 | } |
| 5773 | |
| 5774 | static void cartesian_trajectory_pl_xzgetrf(int32_T m, int32_T n, const |
| 5775 | emxArray_real_T_cartesian_tra_T *A, int32_T lda, |
| 5776 | emxArray_real_T_cartesian_tra_T *b_A, emxArray_int32_T_cartesian_tr_T *ipiv, |
| 5777 | int32_T *info) |
| 5778 | { |
| 5779 | int32_T mmj; |
| 5780 | int32_T b; |
| 5781 | int32_T c; |
| 5782 | emxArray_real_T_cartesian_tra_T *c_x; |
| 5783 | int32_T ix; |
| 5784 | real_T smax; |
| 5785 | real_T s; |
| 5786 | int32_T iy; |
| 5787 | int32_T n_0; |
| 5788 | int32_T yk; |
| 5789 | int32_T k; |
| 5790 | int32_T jA; |
| 5791 | int32_T jy; |
| 5792 | int32_T c_0; |
| 5793 | int32_T c_tmp; |
| 5794 | k = b_A->size[0] * b_A->size[1]; |
| 5795 | b_A->size[0] = A->size[0]; |
| 5796 | b_A->size[1] = A->size[1]; |
| 5797 | cartes_emxEnsureCapacity_real_T(b_A, k); |
| 5798 | iy = A->size[0] * A->size[1] - 1; |
| 5799 | for (k = 0; k <= iy; k++) { |
| 5800 | b_A->data[k] = A->data[k]; |
| 5801 | } |
| 5802 | |
| 5803 | if (m < n) { |
| 5804 | n_0 = m; |
| 5805 | } else { |
| 5806 | n_0 = n; |
| 5807 | } |
| 5808 | |
| 5809 | if (n_0 < 1) { |
| 5810 | n_0 = 0; |
| 5811 | } |
| 5812 | |
| 5813 | k = ipiv->size[0] * ipiv->size[1]; |
| 5814 | ipiv->size[0] = 1; |
| 5815 | ipiv->size[1] = n_0; |
| 5816 | carte_emxEnsureCapacity_int32_T(ipiv, k); |
| 5817 | if (n_0 > 0) { |
| 5818 | ipiv->data[0] = 1; |
| 5819 | yk = 1; |
| 5820 | for (k = 2; k <= n_0; k++) { |
| 5821 | yk++; |
| 5822 | ipiv->data[k - 1] = yk; |
| 5823 | } |
| 5824 | } |
| 5825 | |
| 5826 | yk = 0; |
| 5827 | cartesian_trajec_emxInit_real_T(&c_x, 2); |
| 5828 | if ((m < 1) || (n < 1)) { |
| 5829 | } else { |
| 5830 | n_0 = m - 1; |
| 5831 | if (n_0 >= n) { |
| 5832 | n_0 = n; |
| 5833 | } |
| 5834 | |
| 5835 | b = n_0 - 1; |
| 5836 | for (n_0 = 0; n_0 <= b; n_0++) { |
| 5837 | mmj = m - n_0; |
| 5838 | c_tmp = (lda + 1) * n_0; |
| 5839 | c = c_tmp + 2; |
| 5840 | if (mmj < 1) { |
| 5841 | iy = 0; |
| 5842 | } else { |
| 5843 | iy = 1; |
| 5844 | if (mmj > 1) { |
| 5845 | ix = c - 2; |
| 5846 | smax = fabs(b_A->data[c_tmp]); |
| 5847 | for (k = 2; k <= mmj; k++) { |
| 5848 | ix++; |
| 5849 | s = fabs(b_A->data[ix]); |
| 5850 | if (s > smax) { |
| 5851 | iy = k; |
| 5852 | smax = s; |
| 5853 | } |
| 5854 | } |
| 5855 | } |
| 5856 | } |
| 5857 | |
| 5858 | if (b_A->data[(c + iy) - 3] != 0.0) { |
| 5859 | if (iy - 1 != 0) { |
| 5860 | k = n_0 + iy; |
| 5861 | ipiv->data[n_0] = k; |
| 5862 | ix = c_x->size[0] * c_x->size[1]; |
| 5863 | c_x->size[0] = b_A->size[0]; |
| 5864 | c_x->size[1] = b_A->size[1]; |
| 5865 | cartes_emxEnsureCapacity_real_T(c_x, ix); |
| 5866 | iy = b_A->size[0] * b_A->size[1] - 1; |
| 5867 | for (ix = 0; ix <= iy; ix++) { |
| 5868 | c_x->data[ix] = b_A->data[ix]; |
| 5869 | } |
| 5870 | |
| 5871 | ix = n_0; |
| 5872 | iy = k - 1; |
| 5873 | for (k = 0; k < n; k++) { |
| 5874 | smax = c_x->data[ix]; |
| 5875 | c_x->data[ix] = c_x->data[iy]; |
| 5876 | c_x->data[iy] = smax; |
| 5877 | ix += lda; |
| 5878 | iy += lda; |
| 5879 | } |
| 5880 | |
| 5881 | k = b_A->size[0] * b_A->size[1]; |
| 5882 | b_A->size[0] = c_x->size[0]; |
| 5883 | b_A->size[1] = c_x->size[1]; |
| 5884 | cartes_emxEnsureCapacity_real_T(b_A, k); |
| 5885 | iy = c_x->size[0] * c_x->size[1] - 1; |
| 5886 | for (k = 0; k <= iy; k++) { |
| 5887 | b_A->data[k] = c_x->data[k]; |
| 5888 | } |
| 5889 | } |
| 5890 | |
| 5891 | iy = c + mmj; |
| 5892 | for (k = c; k <= iy - 2; k++) { |
| 5893 | b_A->data[k - 1] /= b_A->data[c_tmp]; |
| 5894 | } |
| 5895 | } else { |
| 5896 | yk = n_0 + 1; |
| 5897 | } |
| 5898 | |
| 5899 | iy = (n - n_0) - 2; |
| 5900 | jy = c_tmp + lda; |
| 5901 | jA = jy + 1; |
| 5902 | for (k = 0; k <= iy; k++) { |
| 5903 | smax = b_A->data[jy]; |
| 5904 | if (b_A->data[jy] != 0.0) { |
| 5905 | ix = c - 1; |
| 5906 | c_0 = (mmj + jA) - 1; |
| 5907 | for (c_tmp = jA + 1; c_tmp <= c_0; c_tmp++) { |
| 5908 | b_A->data[c_tmp - 1] += b_A->data[ix] * -smax; |
| 5909 | ix++; |
| 5910 | } |
| 5911 | } |
| 5912 | |
| 5913 | jy += lda; |
| 5914 | jA += lda; |
| 5915 | } |
| 5916 | } |
| 5917 | |
| 5918 | if ((yk == 0) && (m <= n) && (!(b_A->data[((m - 1) * b_A->size[0] + m) - 1] |
| 5919 | != 0.0))) { |
| 5920 | yk = m; |
| 5921 | } |
| 5922 | } |
| 5923 | |
| 5924 | cartesian_trajec_emxFree_real_T(&c_x); |
| 5925 | *info = yk; |
| 5926 | } |
| 5927 | |
| 5928 | static void cartesian_trajectory_plan_xtrsm(int32_T m, int32_T n, const |
| 5929 | emxArray_real_T_cartesian_tra_T *A, int32_T lda, const |
| 5930 | emxArray_real_T_cartesian_tra_T *B, int32_T ldb, |
| 5931 | emxArray_real_T_cartesian_tra_T *b_B) |
| 5932 | { |
| 5933 | int32_T jBcol; |
| 5934 | int32_T kAcol; |
| 5935 | int32_T i; |
| 5936 | int32_T k; |
| 5937 | int32_T b; |
| 5938 | int32_T b_i; |
| 5939 | int32_T loop_ub; |
| 5940 | int32_T i_0; |
| 5941 | int32_T tmp; |
| 5942 | i_0 = b_B->size[0] * b_B->size[1]; |
| 5943 | b_B->size[0] = B->size[0]; |
| 5944 | b_B->size[1] = B->size[1]; |
| 5945 | cartes_emxEnsureCapacity_real_T(b_B, i_0); |
| 5946 | loop_ub = B->size[0] * B->size[1] - 1; |
| 5947 | for (i_0 = 0; i_0 <= loop_ub; i_0++) { |
| 5948 | b_B->data[i_0] = B->data[i_0]; |
| 5949 | } |
| 5950 | |
| 5951 | if ((n == 0) || ((B->size[0] == 0) || (B->size[1] == 0))) { |
| 5952 | } else { |
| 5953 | for (loop_ub = 0; loop_ub < n; loop_ub++) { |
| 5954 | jBcol = ldb * loop_ub - 1; |
| 5955 | for (k = m; k >= 1; k--) { |
| 5956 | kAcol = (k - 1) * lda - 1; |
| 5957 | i_0 = k + jBcol; |
| 5958 | if (b_B->data[i_0] != 0.0) { |
| 5959 | b_B->data[i_0] /= A->data[k + kAcol]; |
| 5960 | b = k - 2; |
| 5961 | for (b_i = 0; b_i <= b; b_i++) { |
| 5962 | i = b_i + 1; |
| 5963 | tmp = i + jBcol; |
| 5964 | b_B->data[tmp] -= b_B->data[i_0] * A->data[i + kAcol]; |
| 5965 | } |
| 5966 | } |
| 5967 | } |
| 5968 | } |
| 5969 | } |
| 5970 | } |
| 5971 | |
| 5972 | static void cartesian_traje_emxFree_int32_T(emxArray_int32_T_cartesian_tr_T |
| 5973 | **pEmxArray) |
| 5974 | { |
| 5975 | if (*pEmxArray != (emxArray_int32_T_cartesian_tr_T *)NULL) { |
| 5976 | if (((*pEmxArray)->data != (int32_T *)NULL) && (*pEmxArray)->canFreeData) { |
| 5977 | free((*pEmxArray)->data); |
| 5978 | } |
| 5979 | |
| 5980 | free((*pEmxArray)->size); |
| 5981 | free(*pEmxArray); |
| 5982 | *pEmxArray = (emxArray_int32_T_cartesian_tr_T *)NULL; |
| 5983 | } |
| 5984 | } |
| 5985 | |
| 5986 | static void cartesian_trajectory_p_mldivide(const |
| 5987 | emxArray_real_T_cartesian_tra_T *A, const emxArray_real_T_cartesian_tra_T *B, |
| 5988 | emxArray_real_T_cartesian_tra_T *Y) |
| 5989 | { |
| 5990 | emxArray_real_T_cartesian_tra_T *c_A; |
| 5991 | emxArray_real_T_cartesian_tra_T *b_tau; |
| 5992 | emxArray_int32_T_cartesian_tr_T *b_jpvt; |
| 5993 | emxArray_real_T_cartesian_tra_T *B_0; |
| 5994 | emxArray_int32_T_cartesian_tr_T *b_jpvt_0; |
| 5995 | boolean_T guard1 = false; |
| 5996 | cartesian_trajec_emxInit_real_T(&c_A, 2); |
| 5997 | cartesian_trajec_emxInit_real_T(&b_tau, 1); |
| 5998 | cartesian_traje_emxInit_int32_T(&b_jpvt, 2); |
| 5999 | cartesian_trajec_emxInit_real_T(&B_0, 2); |
| 6000 | cartesian_traje_emxInit_int32_T(&b_jpvt_0, 2); |
| 6001 | if ((A->size[0] == 0) || (A->size[1] == 0) || ((B->size[0] == 0) || (B->size[1] |
| 6002 | == 0))) { |
| 6003 | cartesian_trajectory_planner_B.minmn = A->size[1]; |
| 6004 | cartesian_trajectory_planner_B.minmana = B->size[1]; |
| 6005 | cartesian_trajectory_planner_B.b_i_fn = Y->size[0] * Y->size[1]; |
| 6006 | Y->size[0] = cartesian_trajectory_planner_B.minmn; |
| 6007 | Y->size[1] = cartesian_trajectory_planner_B.minmana; |
| 6008 | cartes_emxEnsureCapacity_real_T(Y, cartesian_trajectory_planner_B.b_i_fn); |
| 6009 | cartesian_trajectory_planner_B.minmn = cartesian_trajectory_planner_B.minmn * |
| 6010 | cartesian_trajectory_planner_B.minmana - 1; |
| 6011 | for (cartesian_trajectory_planner_B.b_i_fn = 0; |
| 6012 | cartesian_trajectory_planner_B.b_i_fn <= |
| 6013 | cartesian_trajectory_planner_B.minmn; |
| 6014 | cartesian_trajectory_planner_B.b_i_fn++) { |
| 6015 | Y->data[cartesian_trajectory_planner_B.b_i_fn] = 0.0; |
| 6016 | } |
| 6017 | } else if (A->size[0] == A->size[1]) { |
| 6018 | cartesian_trajectory_planner_B.minmn = A->size[0]; |
| 6019 | cartesian_trajectory_planner_B.rankR = A->size[1]; |
| 6020 | if (cartesian_trajectory_planner_B.minmn < |
| 6021 | cartesian_trajectory_planner_B.rankR) { |
| 6022 | cartesian_trajectory_planner_B.rankR = |
| 6023 | cartesian_trajectory_planner_B.minmn; |
| 6024 | } |
| 6025 | |
| 6026 | cartesian_trajectory_planner_B.minmn = B->size[0]; |
| 6027 | if (cartesian_trajectory_planner_B.minmn < |
| 6028 | cartesian_trajectory_planner_B.rankR) { |
| 6029 | cartesian_trajectory_planner_B.rankR = |
| 6030 | cartesian_trajectory_planner_B.minmn; |
| 6031 | } |
| 6032 | |
| 6033 | cartesian_trajectory_planner_B.nb = B->size[1] - 1; |
| 6034 | cartesian_trajectory_pl_xzgetrf(cartesian_trajectory_planner_B.rankR, |
| 6035 | cartesian_trajectory_planner_B.rankR, A, A->size[0], c_A, b_jpvt, |
| 6036 | &cartesian_trajectory_planner_B.minmn); |
| 6037 | cartesian_trajectory_planner_B.b_i_fn = B_0->size[0] * B_0->size[1]; |
| 6038 | B_0->size[0] = B->size[0]; |
| 6039 | B_0->size[1] = B->size[1]; |
| 6040 | cartes_emxEnsureCapacity_real_T(B_0, cartesian_trajectory_planner_B.b_i_fn); |
| 6041 | cartesian_trajectory_planner_B.minmn = B->size[0] * B->size[1] - 1; |
| 6042 | for (cartesian_trajectory_planner_B.b_i_fn = 0; |
| 6043 | cartesian_trajectory_planner_B.b_i_fn <= |
| 6044 | cartesian_trajectory_planner_B.minmn; |
| 6045 | cartesian_trajectory_planner_B.b_i_fn++) { |
| 6046 | B_0->data[cartesian_trajectory_planner_B.b_i_fn] = B-> |
| 6047 | data[cartesian_trajectory_planner_B.b_i_fn]; |
| 6048 | } |
| 6049 | |
| 6050 | cartesian_trajectory_planner_B.minmn = cartesian_trajectory_planner_B.rankR |
| 6051 | - 2; |
| 6052 | for (cartesian_trajectory_planner_B.b_i_fn = 0; |
| 6053 | cartesian_trajectory_planner_B.b_i_fn <= |
| 6054 | cartesian_trajectory_planner_B.minmn; |
| 6055 | cartesian_trajectory_planner_B.b_i_fn++) { |
| 6056 | if (cartesian_trajectory_planner_B.b_i_fn + 1 != b_jpvt-> |
| 6057 | data[cartesian_trajectory_planner_B.b_i_fn]) { |
| 6058 | cartesian_trajectory_planner_B.na = b_jpvt-> |
| 6059 | data[cartesian_trajectory_planner_B.b_i_fn] - 1; |
| 6060 | for (cartesian_trajectory_planner_B.minmana = 0; |
| 6061 | cartesian_trajectory_planner_B.minmana <= |
| 6062 | cartesian_trajectory_planner_B.nb; |
| 6063 | cartesian_trajectory_planner_B.minmana++) { |
| 6064 | cartesian_trajectory_planner_B.tol_i = B_0->data[B_0->size[0] * |
| 6065 | cartesian_trajectory_planner_B.minmana + |
| 6066 | cartesian_trajectory_planner_B.b_i_fn]; |
| 6067 | B_0->data[cartesian_trajectory_planner_B.b_i_fn + B_0->size[0] * |
| 6068 | cartesian_trajectory_planner_B.minmana] = B_0->data[B_0->size[0] * |
| 6069 | cartesian_trajectory_planner_B.minmana + |
| 6070 | cartesian_trajectory_planner_B.na]; |
| 6071 | B_0->data[cartesian_trajectory_planner_B.na + B_0->size[0] * |
| 6072 | cartesian_trajectory_planner_B.minmana] = |
| 6073 | cartesian_trajectory_planner_B.tol_i; |
| 6074 | } |
| 6075 | } |
| 6076 | } |
| 6077 | |
| 6078 | if ((B->size[1] == 0) || ((B_0->size[0] == 0) || (B_0->size[1] == 0))) { |
| 6079 | } else { |
| 6080 | for (cartesian_trajectory_planner_B.minmana = 0; |
| 6081 | cartesian_trajectory_planner_B.minmana <= |
| 6082 | cartesian_trajectory_planner_B.nb; |
| 6083 | cartesian_trajectory_planner_B.minmana++) { |
| 6084 | cartesian_trajectory_planner_B.m_e = B->size[0] * |
| 6085 | cartesian_trajectory_planner_B.minmana - 1; |
| 6086 | for (cartesian_trajectory_planner_B.minmn = 0; |
| 6087 | cartesian_trajectory_planner_B.minmn < |
| 6088 | cartesian_trajectory_planner_B.rankR; |
| 6089 | cartesian_trajectory_planner_B.minmn++) { |
| 6090 | cartesian_trajectory_planner_B.nb_n = c_A->size[0] * |
| 6091 | cartesian_trajectory_planner_B.minmn - 1; |
| 6092 | cartesian_trajectory_planner_B.b_i_fn = |
| 6093 | (cartesian_trajectory_planner_B.minmn + |
| 6094 | cartesian_trajectory_planner_B.m_e) + 1; |
| 6095 | if (B_0->data[cartesian_trajectory_planner_B.b_i_fn] != 0.0) { |
| 6096 | for (cartesian_trajectory_planner_B.na = |
| 6097 | cartesian_trajectory_planner_B.minmn + 2; |
| 6098 | cartesian_trajectory_planner_B.na <= |
| 6099 | cartesian_trajectory_planner_B.rankR; |
| 6100 | cartesian_trajectory_planner_B.na++) { |
| 6101 | cartesian_trajectory_planner_B.mn = |
| 6102 | cartesian_trajectory_planner_B.na + |
| 6103 | cartesian_trajectory_planner_B.m_e; |
| 6104 | B_0->data[cartesian_trajectory_planner_B.mn] -= B_0-> |
| 6105 | data[cartesian_trajectory_planner_B.b_i_fn] * c_A-> |
| 6106 | data[cartesian_trajectory_planner_B.na + |
| 6107 | cartesian_trajectory_planner_B.nb_n]; |
| 6108 | } |
| 6109 | } |
| 6110 | } |
| 6111 | } |
| 6112 | } |
| 6113 | |
| 6114 | cartesian_trajectory_plan_xtrsm(cartesian_trajectory_planner_B.rankR, |
| 6115 | B->size[1], c_A, c_A->size[0], B_0, B->size[0], Y); |
| 6116 | } else { |
| 6117 | cartesian_trajectory_planner_B.na = A->size[1] - 1; |
| 6118 | cartesian_trajectory_planner_B.b_i_fn = c_A->size[0] * c_A->size[1]; |
| 6119 | c_A->size[0] = A->size[0]; |
| 6120 | c_A->size[1] = A->size[1]; |
| 6121 | cartes_emxEnsureCapacity_real_T(c_A, cartesian_trajectory_planner_B.b_i_fn); |
| 6122 | cartesian_trajectory_planner_B.minmn = A->size[0] * A->size[1] - 1; |
| 6123 | for (cartesian_trajectory_planner_B.b_i_fn = 0; |
| 6124 | cartesian_trajectory_planner_B.b_i_fn <= |
| 6125 | cartesian_trajectory_planner_B.minmn; |
| 6126 | cartesian_trajectory_planner_B.b_i_fn++) { |
| 6127 | c_A->data[cartesian_trajectory_planner_B.b_i_fn] = A-> |
| 6128 | data[cartesian_trajectory_planner_B.b_i_fn]; |
| 6129 | } |
| 6130 | |
| 6131 | cartesian_trajectory_planner_B.minmn = A->size[0]; |
| 6132 | cartesian_trajectory_planner_B.minmana = A->size[1]; |
| 6133 | if (cartesian_trajectory_planner_B.minmn < |
| 6134 | cartesian_trajectory_planner_B.minmana) { |
| 6135 | cartesian_trajectory_planner_B.minmana = |
| 6136 | cartesian_trajectory_planner_B.minmn; |
| 6137 | } |
| 6138 | |
| 6139 | cartesian_trajectory_planner_B.b_i_fn = b_tau->size[0]; |
| 6140 | b_tau->size[0] = cartesian_trajectory_planner_B.minmana; |
| 6141 | cartes_emxEnsureCapacity_real_T(b_tau, cartesian_trajectory_planner_B.b_i_fn); |
| 6142 | for (cartesian_trajectory_planner_B.b_i_fn = 0; |
| 6143 | cartesian_trajectory_planner_B.b_i_fn < |
| 6144 | cartesian_trajectory_planner_B.minmana; |
| 6145 | cartesian_trajectory_planner_B.b_i_fn++) { |
| 6146 | b_tau->data[cartesian_trajectory_planner_B.b_i_fn] = 0.0; |
| 6147 | } |
| 6148 | |
| 6149 | guard1 = false; |
| 6150 | if ((A->size[0] == 0) || (A->size[1] == 0)) { |
| 6151 | guard1 = true; |
| 6152 | } else { |
| 6153 | cartesian_trajectory_planner_B.minmn = A->size[0]; |
| 6154 | cartesian_trajectory_planner_B.minmana = A->size[1]; |
| 6155 | if (cartesian_trajectory_planner_B.minmn < |
| 6156 | cartesian_trajectory_planner_B.minmana) { |
| 6157 | cartesian_trajectory_planner_B.minmana = |
| 6158 | cartesian_trajectory_planner_B.minmn; |
| 6159 | } |
| 6160 | |
| 6161 | if (cartesian_trajectory_planner_B.minmana < 1) { |
| 6162 | guard1 = true; |
| 6163 | } else { |
| 6164 | cartesian_trajectory_planner_B.b_i_fn = b_jpvt->size[0] * b_jpvt->size[1]; |
| 6165 | b_jpvt->size[0] = 1; |
| 6166 | b_jpvt->size[1] = A->size[1]; |
| 6167 | carte_emxEnsureCapacity_int32_T(b_jpvt, |
| 6168 | cartesian_trajectory_planner_B.b_i_fn); |
| 6169 | cartesian_trajectory_planner_B.minmn = A->size[1] - 1; |
| 6170 | for (cartesian_trajectory_planner_B.b_i_fn = 0; |
| 6171 | cartesian_trajectory_planner_B.b_i_fn <= |
| 6172 | cartesian_trajectory_planner_B.minmn; |
| 6173 | cartesian_trajectory_planner_B.b_i_fn++) { |
| 6174 | b_jpvt->data[cartesian_trajectory_planner_B.b_i_fn] = 0; |
| 6175 | } |
| 6176 | |
| 6177 | for (cartesian_trajectory_planner_B.minmn = 0; |
| 6178 | cartesian_trajectory_planner_B.minmn <= |
| 6179 | cartesian_trajectory_planner_B.na; |
| 6180 | cartesian_trajectory_planner_B.minmn++) { |
| 6181 | b_jpvt->data[cartesian_trajectory_planner_B.minmn] = |
| 6182 | cartesian_trajectory_planner_B.minmn + 1; |
| 6183 | } |
| 6184 | |
| 6185 | cartesian_trajectory_planner_B.b_i_fn = b_jpvt_0->size[0] * |
| 6186 | b_jpvt_0->size[1]; |
| 6187 | b_jpvt_0->size[0] = 1; |
| 6188 | b_jpvt_0->size[1] = b_jpvt->size[1]; |
| 6189 | carte_emxEnsureCapacity_int32_T(b_jpvt_0, |
| 6190 | cartesian_trajectory_planner_B.b_i_fn); |
| 6191 | cartesian_trajectory_planner_B.minmn = b_jpvt->size[0] * b_jpvt->size[1]; |
| 6192 | for (cartesian_trajectory_planner_B.b_i_fn = 0; |
| 6193 | cartesian_trajectory_planner_B.b_i_fn < |
| 6194 | cartesian_trajectory_planner_B.minmn; |
| 6195 | cartesian_trajectory_planner_B.b_i_fn++) { |
| 6196 | b_jpvt_0->data[cartesian_trajectory_planner_B.b_i_fn] = b_jpvt-> |
| 6197 | data[cartesian_trajectory_planner_B.b_i_fn]; |
| 6198 | } |
| 6199 | |
| 6200 | cartesian_trajectory_pla_qrpf_a(A, A->size[0], A->size[1], b_tau, |
| 6201 | b_jpvt_0, c_A, b_jpvt); |
| 6202 | } |
| 6203 | } |
| 6204 | |
| 6205 | if (guard1) { |
| 6206 | cartesian_trajectory_planner_B.b_i_fn = b_jpvt->size[0] * b_jpvt->size[1]; |
| 6207 | b_jpvt->size[0] = 1; |
| 6208 | b_jpvt->size[1] = A->size[1]; |
| 6209 | carte_emxEnsureCapacity_int32_T(b_jpvt, |
| 6210 | cartesian_trajectory_planner_B.b_i_fn); |
| 6211 | cartesian_trajectory_planner_B.minmn = A->size[1] - 1; |
| 6212 | for (cartesian_trajectory_planner_B.b_i_fn = 0; |
| 6213 | cartesian_trajectory_planner_B.b_i_fn <= |
| 6214 | cartesian_trajectory_planner_B.minmn; |
| 6215 | cartesian_trajectory_planner_B.b_i_fn++) { |
| 6216 | b_jpvt->data[cartesian_trajectory_planner_B.b_i_fn] = 0; |
| 6217 | } |
| 6218 | |
| 6219 | for (cartesian_trajectory_planner_B.minmana = 0; |
| 6220 | cartesian_trajectory_planner_B.minmana <= |
| 6221 | cartesian_trajectory_planner_B.na; |
| 6222 | cartesian_trajectory_planner_B.minmana++) { |
| 6223 | b_jpvt->data[cartesian_trajectory_planner_B.minmana] = |
| 6224 | cartesian_trajectory_planner_B.minmana + 1; |
| 6225 | } |
| 6226 | } |
| 6227 | |
| 6228 | cartesian_trajectory_planner_B.rankR = 0; |
| 6229 | if (c_A->size[0] < c_A->size[1]) { |
| 6230 | cartesian_trajectory_planner_B.minmn = c_A->size[0]; |
| 6231 | cartesian_trajectory_planner_B.minmana = c_A->size[1]; |
| 6232 | } else { |
| 6233 | cartesian_trajectory_planner_B.minmn = c_A->size[1]; |
| 6234 | cartesian_trajectory_planner_B.minmana = c_A->size[0]; |
| 6235 | } |
| 6236 | |
| 6237 | if (cartesian_trajectory_planner_B.minmn > 0) { |
| 6238 | cartesian_trajectory_planner_B.tol_i = 2.2204460492503131E-15 * |
| 6239 | static_cast<real_T>(cartesian_trajectory_planner_B.minmana); |
| 6240 | if (1.4901161193847656E-8 < cartesian_trajectory_planner_B.tol_i) { |
| 6241 | cartesian_trajectory_planner_B.tol_i = 1.4901161193847656E-8; |
| 6242 | } |
| 6243 | |
| 6244 | cartesian_trajectory_planner_B.tol_i *= fabs(c_A->data[0]); |
| 6245 | while ((cartesian_trajectory_planner_B.rankR < |
| 6246 | cartesian_trajectory_planner_B.minmn) && (!(fabs(c_A->data |
| 6247 | [c_A->size[0] * cartesian_trajectory_planner_B.rankR + |
| 6248 | cartesian_trajectory_planner_B.rankR]) <= |
| 6249 | cartesian_trajectory_planner_B.tol_i))) { |
| 6250 | cartesian_trajectory_planner_B.rankR++; |
| 6251 | } |
| 6252 | } |
| 6253 | |
| 6254 | cartesian_trajectory_planner_B.nb = B->size[1] - 1; |
| 6255 | cartesian_trajectory_planner_B.minmn = c_A->size[1]; |
| 6256 | cartesian_trajectory_planner_B.minmana = B->size[1]; |
| 6257 | cartesian_trajectory_planner_B.b_i_fn = Y->size[0] * Y->size[1]; |
| 6258 | Y->size[0] = cartesian_trajectory_planner_B.minmn; |
| 6259 | Y->size[1] = cartesian_trajectory_planner_B.minmana; |
| 6260 | cartes_emxEnsureCapacity_real_T(Y, cartesian_trajectory_planner_B.b_i_fn); |
| 6261 | cartesian_trajectory_planner_B.minmn = cartesian_trajectory_planner_B.minmn * |
| 6262 | cartesian_trajectory_planner_B.minmana - 1; |
| 6263 | for (cartesian_trajectory_planner_B.b_i_fn = 0; |
| 6264 | cartesian_trajectory_planner_B.b_i_fn <= |
| 6265 | cartesian_trajectory_planner_B.minmn; |
| 6266 | cartesian_trajectory_planner_B.b_i_fn++) { |
| 6267 | Y->data[cartesian_trajectory_planner_B.b_i_fn] = 0.0; |
| 6268 | } |
| 6269 | |
| 6270 | cartesian_trajectory_planner_B.b_i_fn = B_0->size[0] * B_0->size[1]; |
| 6271 | B_0->size[0] = B->size[0]; |
| 6272 | B_0->size[1] = B->size[1]; |
| 6273 | cartes_emxEnsureCapacity_real_T(B_0, cartesian_trajectory_planner_B.b_i_fn); |
| 6274 | cartesian_trajectory_planner_B.minmn = B->size[0] * B->size[1] - 1; |
| 6275 | for (cartesian_trajectory_planner_B.b_i_fn = 0; |
| 6276 | cartesian_trajectory_planner_B.b_i_fn <= |
| 6277 | cartesian_trajectory_planner_B.minmn; |
| 6278 | cartesian_trajectory_planner_B.b_i_fn++) { |
| 6279 | B_0->data[cartesian_trajectory_planner_B.b_i_fn] = B-> |
| 6280 | data[cartesian_trajectory_planner_B.b_i_fn]; |
| 6281 | } |
| 6282 | |
| 6283 | cartesian_trajectory_planner_B.m_e = c_A->size[0]; |
| 6284 | cartesian_trajectory_planner_B.nb_n = B->size[1] - 1; |
| 6285 | cartesian_trajectory_planner_B.minmn = c_A->size[0]; |
| 6286 | cartesian_trajectory_planner_B.minmana = c_A->size[1]; |
| 6287 | if (cartesian_trajectory_planner_B.minmn < |
| 6288 | cartesian_trajectory_planner_B.minmana) { |
| 6289 | cartesian_trajectory_planner_B.minmana = |
| 6290 | cartesian_trajectory_planner_B.minmn; |
| 6291 | } |
| 6292 | |
| 6293 | cartesian_trajectory_planner_B.mn = cartesian_trajectory_planner_B.minmana - |
| 6294 | 1; |
| 6295 | for (cartesian_trajectory_planner_B.minmana = 0; |
| 6296 | cartesian_trajectory_planner_B.minmana <= |
| 6297 | cartesian_trajectory_planner_B.mn; |
| 6298 | cartesian_trajectory_planner_B.minmana++) { |
| 6299 | if (b_tau->data[cartesian_trajectory_planner_B.minmana] != 0.0) { |
| 6300 | for (cartesian_trajectory_planner_B.minmn = 0; |
| 6301 | cartesian_trajectory_planner_B.minmn <= |
| 6302 | cartesian_trajectory_planner_B.nb_n; |
| 6303 | cartesian_trajectory_planner_B.minmn++) { |
| 6304 | cartesian_trajectory_planner_B.tol_i = B_0->data[B_0->size[0] * |
| 6305 | cartesian_trajectory_planner_B.minmn + |
| 6306 | cartesian_trajectory_planner_B.minmana]; |
| 6307 | for (cartesian_trajectory_planner_B.na = |
| 6308 | cartesian_trajectory_planner_B.minmana + 2; |
| 6309 | cartesian_trajectory_planner_B.na <= |
| 6310 | cartesian_trajectory_planner_B.m_e; |
| 6311 | cartesian_trajectory_planner_B.na++) { |
| 6312 | cartesian_trajectory_planner_B.tol_i += c_A->data[(c_A->size[0] * |
| 6313 | cartesian_trajectory_planner_B.minmana + |
| 6314 | cartesian_trajectory_planner_B.na) - 1] * B_0->data[(B_0->size[0] * |
| 6315 | cartesian_trajectory_planner_B.minmn + |
| 6316 | cartesian_trajectory_planner_B.na) - 1]; |
| 6317 | } |
| 6318 | |
| 6319 | cartesian_trajectory_planner_B.tol_i *= b_tau-> |
| 6320 | data[cartesian_trajectory_planner_B.minmana]; |
| 6321 | if (cartesian_trajectory_planner_B.tol_i != 0.0) { |
| 6322 | B_0->data[cartesian_trajectory_planner_B.minmana + B_0->size[0] * |
| 6323 | cartesian_trajectory_planner_B.minmn] -= |
| 6324 | cartesian_trajectory_planner_B.tol_i; |
| 6325 | for (cartesian_trajectory_planner_B.b_i_fn = |
| 6326 | cartesian_trajectory_planner_B.minmana + 2; |
| 6327 | cartesian_trajectory_planner_B.b_i_fn <= |
| 6328 | cartesian_trajectory_planner_B.m_e; |
| 6329 | cartesian_trajectory_planner_B.b_i_fn++) { |
| 6330 | B_0->data[(cartesian_trajectory_planner_B.b_i_fn + B_0->size[0] * |
| 6331 | cartesian_trajectory_planner_B.minmn) - 1] -= c_A-> |
| 6332 | data[(c_A->size[0] * cartesian_trajectory_planner_B.minmana + |
| 6333 | cartesian_trajectory_planner_B.b_i_fn) - 1] * |
| 6334 | cartesian_trajectory_planner_B.tol_i; |
| 6335 | } |
| 6336 | } |
| 6337 | } |
| 6338 | } |
| 6339 | } |
| 6340 | |
| 6341 | for (cartesian_trajectory_planner_B.minmn = 0; |
| 6342 | cartesian_trajectory_planner_B.minmn <= |
| 6343 | cartesian_trajectory_planner_B.nb; cartesian_trajectory_planner_B.minmn |
| 6344 | ++) { |
| 6345 | for (cartesian_trajectory_planner_B.b_i_fn = 0; |
| 6346 | cartesian_trajectory_planner_B.b_i_fn < |
| 6347 | cartesian_trajectory_planner_B.rankR; |
| 6348 | cartesian_trajectory_planner_B.b_i_fn++) { |
| 6349 | Y->data[(b_jpvt->data[cartesian_trajectory_planner_B.b_i_fn] + Y->size[0] |
| 6350 | * cartesian_trajectory_planner_B.minmn) - 1] = B_0->data |
| 6351 | [B_0->size[0] * cartesian_trajectory_planner_B.minmn + |
| 6352 | cartesian_trajectory_planner_B.b_i_fn]; |
| 6353 | } |
| 6354 | |
| 6355 | for (cartesian_trajectory_planner_B.minmana = |
| 6356 | cartesian_trajectory_planner_B.rankR; |
| 6357 | cartesian_trajectory_planner_B.minmana >= 1; |
| 6358 | cartesian_trajectory_planner_B.minmana--) { |
| 6359 | Y->data[(b_jpvt->data[cartesian_trajectory_planner_B.minmana - 1] + |
| 6360 | Y->size[0] * cartesian_trajectory_planner_B.minmn) - 1] /= |
| 6361 | c_A->data[((cartesian_trajectory_planner_B.minmana - 1) * c_A->size[0] |
| 6362 | + cartesian_trajectory_planner_B.minmana) - 1]; |
| 6363 | cartesian_trajectory_planner_B.na = |
| 6364 | cartesian_trajectory_planner_B.minmana - 2; |
| 6365 | for (cartesian_trajectory_planner_B.b_i_fn = 0; |
| 6366 | cartesian_trajectory_planner_B.b_i_fn <= |
| 6367 | cartesian_trajectory_planner_B.na; |
| 6368 | cartesian_trajectory_planner_B.b_i_fn++) { |
| 6369 | Y->data[(b_jpvt->data[cartesian_trajectory_planner_B.b_i_fn] + Y-> |
| 6370 | size[0] * cartesian_trajectory_planner_B.minmn) - 1] -= |
| 6371 | Y->data[(b_jpvt->data[cartesian_trajectory_planner_B.minmana - 1] + |
| 6372 | Y->size[0] * cartesian_trajectory_planner_B.minmn) - 1] * |
| 6373 | c_A->data[(cartesian_trajectory_planner_B.minmana - 1) * c_A->size[0] |
| 6374 | + cartesian_trajectory_planner_B.b_i_fn]; |
| 6375 | } |
| 6376 | } |
| 6377 | } |
| 6378 | } |
| 6379 | |
| 6380 | cartesian_traje_emxFree_int32_T(&b_jpvt_0); |
| 6381 | cartesian_trajec_emxFree_real_T(&B_0); |
| 6382 | cartesian_traje_emxFree_int32_T(&b_jpvt); |
| 6383 | cartesian_trajec_emxFree_real_T(&b_tau); |
| 6384 | cartesian_trajec_emxFree_real_T(&c_A); |
| 6385 | } |
| 6386 | |
| 6387 | static void cartesian_tra_emxFree_boolean_T(emxArray_boolean_T_cartesian__T |
| 6388 | **pEmxArray) |
| 6389 | { |
| 6390 | if (*pEmxArray != (emxArray_boolean_T_cartesian__T *)NULL) { |
| 6391 | if (((*pEmxArray)->data != (boolean_T *)NULL) && (*pEmxArray)->canFreeData) |
| 6392 | { |
| 6393 | free((*pEmxArray)->data); |
| 6394 | } |
| 6395 | |
| 6396 | free((*pEmxArray)->size); |
| 6397 | free(*pEmxArray); |
| 6398 | *pEmxArray = (emxArray_boolean_T_cartesian__T *)NULL; |
| 6399 | } |
| 6400 | } |
| 6401 | |
| 6402 | static boolean_T DampedBFGSwGradientProjection_a(const |
| 6403 | h_robotics_core_internal_Damp_T *obj, const real_T Hg[6], const |
| 6404 | emxArray_real_T_cartesian_tra_T *alpha) |
| 6405 | { |
| 6406 | boolean_T flag; |
| 6407 | boolean_T y; |
| 6408 | emxArray_boolean_T_cartesian__T *x; |
| 6409 | int32_T ix; |
| 6410 | int32_T loop_ub; |
| 6411 | boolean_T exitg1; |
| 6412 | cartesian_tra_emxInit_boolean_T(&x, 1); |
| 6413 | if (cartesian_trajectory_pla_norm_a(Hg) < obj->GradientTolerance) { |
| 6414 | ix = x->size[0]; |
| 6415 | x->size[0] = alpha->size[0]; |
| 6416 | car_emxEnsureCapacity_boolean_T(x, ix); |
| 6417 | loop_ub = alpha->size[0]; |
| 6418 | for (ix = 0; ix < loop_ub; ix++) { |
| 6419 | x->data[ix] = (alpha->data[ix] <= 0.0); |
| 6420 | } |
| 6421 | |
| 6422 | y = true; |
| 6423 | ix = 0; |
| 6424 | exitg1 = false; |
| 6425 | while ((!exitg1) && (ix + 1 <= x->size[0])) { |
| 6426 | if (!x->data[ix]) { |
| 6427 | y = false; |
| 6428 | exitg1 = true; |
| 6429 | } else { |
| 6430 | ix++; |
| 6431 | } |
| 6432 | } |
| 6433 | |
| 6434 | if (y) { |
| 6435 | flag = true; |
| 6436 | } else { |
| 6437 | flag = false; |
| 6438 | } |
| 6439 | } else { |
| 6440 | flag = false; |
| 6441 | } |
| 6442 | |
| 6443 | cartesian_tra_emxFree_boolean_T(&x); |
| 6444 | return flag; |
| 6445 | } |
| 6446 | |
| 6447 | static void cartesian_trajectory_planne_inv(const |
| 6448 | emxArray_real_T_cartesian_tra_T *x, emxArray_real_T_cartesian_tra_T *y) |
| 6449 | { |
| 6450 | int32_T n; |
| 6451 | emxArray_int32_T_cartesian_tr_T *p; |
| 6452 | int32_T c; |
| 6453 | emxArray_real_T_cartesian_tra_T *c_A; |
| 6454 | emxArray_int32_T_cartesian_tr_T *b_ipiv; |
| 6455 | int32_T info; |
| 6456 | int32_T n_0; |
| 6457 | int32_T yk; |
| 6458 | emxArray_real_T_cartesian_tra_T *y_0; |
| 6459 | if ((x->size[0] == 0) || (x->size[1] == 0)) { |
| 6460 | info = y->size[0] * y->size[1]; |
| 6461 | y->size[0] = x->size[0]; |
| 6462 | y->size[1] = x->size[1]; |
| 6463 | cartes_emxEnsureCapacity_real_T(y, info); |
| 6464 | n_0 = x->size[0] * x->size[1] - 1; |
| 6465 | for (info = 0; info <= n_0; info++) { |
| 6466 | y->data[info] = x->data[info]; |
| 6467 | } |
| 6468 | } else { |
| 6469 | n = x->size[0]; |
| 6470 | info = y->size[0] * y->size[1]; |
| 6471 | y->size[0] = x->size[0]; |
| 6472 | y->size[1] = x->size[1]; |
| 6473 | cartes_emxEnsureCapacity_real_T(y, info); |
| 6474 | n_0 = x->size[0] * x->size[1] - 1; |
| 6475 | for (info = 0; info <= n_0; info++) { |
| 6476 | y->data[info] = 0.0; |
| 6477 | } |
| 6478 | |
| 6479 | cartesian_traje_emxInit_int32_T(&p, 2); |
| 6480 | cartesian_trajec_emxInit_real_T(&c_A, 2); |
| 6481 | cartesian_traje_emxInit_int32_T(&b_ipiv, 2); |
| 6482 | cartesian_trajectory_pl_xzgetrf(x->size[0], x->size[0], x, x->size[0], c_A, |
| 6483 | b_ipiv, &info); |
| 6484 | if (x->size[0] < 1) { |
| 6485 | n_0 = 0; |
| 6486 | } else { |
| 6487 | n_0 = x->size[0]; |
| 6488 | } |
| 6489 | |
| 6490 | info = p->size[0] * p->size[1]; |
| 6491 | p->size[0] = 1; |
| 6492 | p->size[1] = n_0; |
| 6493 | carte_emxEnsureCapacity_int32_T(p, info); |
| 6494 | if (n_0 > 0) { |
| 6495 | p->data[0] = 1; |
| 6496 | yk = 1; |
| 6497 | for (info = 2; info <= n_0; info++) { |
| 6498 | yk++; |
| 6499 | p->data[info - 1] = yk; |
| 6500 | } |
| 6501 | } |
| 6502 | |
| 6503 | n_0 = b_ipiv->size[1] - 1; |
| 6504 | for (info = 0; info <= n_0; info++) { |
| 6505 | if (b_ipiv->data[info] > static_cast<real_T>(info) + 1.0) { |
| 6506 | yk = p->data[b_ipiv->data[info] - 1]; |
| 6507 | p->data[b_ipiv->data[info] - 1] = p->data[info]; |
| 6508 | p->data[info] = yk; |
| 6509 | } |
| 6510 | } |
| 6511 | |
| 6512 | cartesian_traje_emxFree_int32_T(&b_ipiv); |
| 6513 | for (info = 0; info < n; info++) { |
| 6514 | c = p->data[info] - 1; |
| 6515 | y->data[info + y->size[0] * (p->data[info] - 1)] = 1.0; |
| 6516 | for (n_0 = info + 1; n_0 <= n; n_0++) { |
| 6517 | if (y->data[(y->size[0] * c + n_0) - 1] != 0.0) { |
| 6518 | for (yk = n_0 + 1; yk <= n; yk++) { |
| 6519 | y->data[(yk + y->size[0] * c) - 1] -= c_A->data[((n_0 - 1) * |
| 6520 | c_A->size[0] + yk) - 1] * y->data[(y->size[0] * c + n_0) - 1]; |
| 6521 | } |
| 6522 | } |
| 6523 | } |
| 6524 | } |
| 6525 | |
| 6526 | cartesian_traje_emxFree_int32_T(&p); |
| 6527 | cartesian_trajec_emxInit_real_T(&y_0, 2); |
| 6528 | info = y_0->size[0] * y_0->size[1]; |
| 6529 | y_0->size[0] = y->size[0]; |
| 6530 | y_0->size[1] = y->size[1]; |
| 6531 | cartes_emxEnsureCapacity_real_T(y_0, info); |
| 6532 | n_0 = y->size[0] * y->size[1]; |
| 6533 | for (info = 0; info < n_0; info++) { |
| 6534 | y_0->data[info] = y->data[info]; |
| 6535 | } |
| 6536 | |
| 6537 | cartesian_trajectory_plan_xtrsm(x->size[0], x->size[0], c_A, x->size[0], y_0, |
| 6538 | x->size[0], y); |
| 6539 | cartesian_trajec_emxFree_real_T(&y_0); |
| 6540 | cartesian_trajec_emxFree_real_T(&c_A); |
| 6541 | } |
| 6542 | } |
| 6543 | |
| 6544 | static void cartesian_trajectory_plann_diag(const |
| 6545 | emxArray_real_T_cartesian_tra_T *v, emxArray_real_T_cartesian_tra_T *d) |
| 6546 | { |
| 6547 | int32_T u0; |
| 6548 | int32_T u1; |
| 6549 | if ((v->size[0] == 1) && (v->size[1] == 1)) { |
| 6550 | u0 = d->size[0]; |
| 6551 | d->size[0] = 1; |
| 6552 | cartes_emxEnsureCapacity_real_T(d, u0); |
| 6553 | d->data[0] = v->data[0]; |
| 6554 | } else { |
| 6555 | if (0 < v->size[1]) { |
| 6556 | u0 = v->size[0]; |
| 6557 | u1 = v->size[1]; |
| 6558 | if (u0 < u1) { |
| 6559 | u1 = u0; |
| 6560 | } |
| 6561 | } else { |
| 6562 | u1 = 0; |
| 6563 | } |
| 6564 | |
| 6565 | u0 = d->size[0]; |
| 6566 | d->size[0] = u1; |
| 6567 | cartes_emxEnsureCapacity_real_T(d, u0); |
| 6568 | for (u0 = 0; u0 < u1; u0++) { |
| 6569 | d->data[u0] = v->data[v->size[0] * u0 + u0]; |
| 6570 | } |
| 6571 | } |
| 6572 | } |
| 6573 | |
| 6574 | static void cartesian_trajectory_pl_sqrt_as(emxArray_real_T_cartesian_tra_T *x) |
| 6575 | { |
| 6576 | int32_T nx; |
| 6577 | int32_T b_k; |
| 6578 | nx = x->size[0] - 1; |
| 6579 | for (b_k = 0; b_k <= nx; b_k++) { |
| 6580 | x->data[b_k] = sqrt(x->data[b_k]); |
| 6581 | } |
| 6582 | } |
| 6583 | |
| 6584 | static boolean_T cartesian_trajectory_planne_any(const |
| 6585 | emxArray_boolean_T_cartesian__T *x) |
| 6586 | { |
| 6587 | boolean_T y; |
| 6588 | int32_T ix; |
| 6589 | boolean_T exitg1; |
| 6590 | y = false; |
| 6591 | ix = 0; |
| 6592 | exitg1 = false; |
| 6593 | while ((!exitg1) && (ix + 1 <= x->size[0])) { |
| 6594 | if (!x->data[ix]) { |
| 6595 | ix++; |
| 6596 | } else { |
| 6597 | y = true; |
| 6598 | exitg1 = true; |
| 6599 | } |
| 6600 | } |
| 6601 | |
| 6602 | return y; |
| 6603 | } |
| 6604 | |
| 6605 | static boolean_T cartesian_tr_isPositiveDefinite(const real_T B[36]) |
| 6606 | { |
| 6607 | emxArray_real_T_cartesian_tra_T *b_x; |
| 6608 | boolean_T exitg1; |
| 6609 | cartesian_trajectory_planner_B.c_A_size_idx_0 = 6; |
| 6610 | cartesian_trajectory_planner_B.c_A_size_idx_1 = 6; |
| 6611 | memcpy(&cartesian_trajectory_planner_B.c_A_data[0], &B[0], 36U * sizeof(real_T)); |
| 6612 | cartesian_trajectory_planner_B.b_info = 0; |
| 6613 | cartesian_trajectory_planner_B.b_j_jk = 1; |
| 6614 | cartesian_trajec_emxInit_real_T(&b_x, 2); |
| 6615 | exitg1 = false; |
| 6616 | while ((!exitg1) && (cartesian_trajectory_planner_B.b_j_jk - 1 < 6)) { |
| 6617 | cartesian_trajectory_planner_B.jm1 = cartesian_trajectory_planner_B.b_j_jk - |
| 6618 | 2; |
| 6619 | cartesian_trajectory_planner_B.idxAjj = |
| 6620 | ((cartesian_trajectory_planner_B.b_j_jk - 1) * 6 + |
| 6621 | cartesian_trajectory_planner_B.b_j_jk) - 1; |
| 6622 | cartesian_trajectory_planner_B.ssq = 0.0; |
| 6623 | if (cartesian_trajectory_planner_B.b_j_jk - 1 >= 1) { |
| 6624 | cartesian_trajectory_planner_B.ix_h = |
| 6625 | cartesian_trajectory_planner_B.b_j_jk - 1; |
| 6626 | cartesian_trajectory_planner_B.iy = cartesian_trajectory_planner_B.b_j_jk |
| 6627 | - 1; |
| 6628 | for (cartesian_trajectory_planner_B.k_d = 0; |
| 6629 | cartesian_trajectory_planner_B.k_d <= |
| 6630 | cartesian_trajectory_planner_B.jm1; |
| 6631 | cartesian_trajectory_planner_B.k_d++) { |
| 6632 | cartesian_trajectory_planner_B.ssq += |
| 6633 | cartesian_trajectory_planner_B.c_A_data[cartesian_trajectory_planner_B.ix_h] |
| 6634 | * cartesian_trajectory_planner_B.c_A_data[cartesian_trajectory_planner_B.iy]; |
| 6635 | cartesian_trajectory_planner_B.ix_h += 6; |
| 6636 | cartesian_trajectory_planner_B.iy += 6; |
| 6637 | } |
| 6638 | } |
| 6639 | |
| 6640 | cartesian_trajectory_planner_B.ssq = |
| 6641 | cartesian_trajectory_planner_B.c_A_data[cartesian_trajectory_planner_B.idxAjj] |
| 6642 | - cartesian_trajectory_planner_B.ssq; |
| 6643 | if (cartesian_trajectory_planner_B.ssq > 0.0) { |
| 6644 | cartesian_trajectory_planner_B.ssq = sqrt |
| 6645 | (cartesian_trajectory_planner_B.ssq); |
| 6646 | cartesian_trajectory_planner_B.c_A_data[cartesian_trajectory_planner_B.idxAjj] |
| 6647 | = cartesian_trajectory_planner_B.ssq; |
| 6648 | if (cartesian_trajectory_planner_B.b_j_jk < 6) { |
| 6649 | if (cartesian_trajectory_planner_B.b_j_jk - 1 != 0) { |
| 6650 | cartesian_trajectory_planner_B.ix_h = |
| 6651 | cartesian_trajectory_planner_B.b_j_jk - 1; |
| 6652 | cartesian_trajectory_planner_B.jm1 = |
| 6653 | (cartesian_trajectory_planner_B.b_j_jk - 2) * 6 + |
| 6654 | cartesian_trajectory_planner_B.b_j_jk; |
| 6655 | for (cartesian_trajectory_planner_B.k_d = |
| 6656 | cartesian_trajectory_planner_B.b_j_jk + 1; |
| 6657 | cartesian_trajectory_planner_B.k_d <= |
| 6658 | cartesian_trajectory_planner_B.jm1 + 1; |
| 6659 | cartesian_trajectory_planner_B.k_d += 6) { |
| 6660 | cartesian_trajectory_planner_B.c = |
| 6661 | -cartesian_trajectory_planner_B.c_A_data[cartesian_trajectory_planner_B.ix_h]; |
| 6662 | cartesian_trajectory_planner_B.iy = |
| 6663 | cartesian_trajectory_planner_B.idxAjj + 1; |
| 6664 | cartesian_trajectory_planner_B.d_k = |
| 6665 | cartesian_trajectory_planner_B.k_d - |
| 6666 | cartesian_trajectory_planner_B.b_j_jk; |
| 6667 | for (cartesian_trajectory_planner_B.ia = |
| 6668 | cartesian_trajectory_planner_B.k_d; |
| 6669 | cartesian_trajectory_planner_B.ia <= |
| 6670 | cartesian_trajectory_planner_B.d_k + 5; |
| 6671 | cartesian_trajectory_planner_B.ia++) { |
| 6672 | cartesian_trajectory_planner_B.c_A_data[cartesian_trajectory_planner_B.iy] |
| 6673 | += |
| 6674 | cartesian_trajectory_planner_B.c_A_data[cartesian_trajectory_planner_B.ia |
| 6675 | - 1] * cartesian_trajectory_planner_B.c; |
| 6676 | cartesian_trajectory_planner_B.iy++; |
| 6677 | } |
| 6678 | |
| 6679 | cartesian_trajectory_planner_B.ix_h += 6; |
| 6680 | } |
| 6681 | } |
| 6682 | |
| 6683 | cartesian_trajectory_planner_B.ssq = 1.0 / |
| 6684 | cartesian_trajectory_planner_B.ssq; |
| 6685 | cartesian_trajectory_planner_B.ix_h = b_x->size[0] * b_x->size[1]; |
| 6686 | b_x->size[0] = 6; |
| 6687 | b_x->size[1] = 6; |
| 6688 | cartes_emxEnsureCapacity_real_T(b_x, cartesian_trajectory_planner_B.ix_h); |
| 6689 | cartesian_trajectory_planner_B.c_A_size_idx_0 = |
| 6690 | cartesian_trajectory_planner_B.c_A_size_idx_0 * |
| 6691 | cartesian_trajectory_planner_B.c_A_size_idx_1 - 1; |
| 6692 | for (cartesian_trajectory_planner_B.ix_h = 0; |
| 6693 | cartesian_trajectory_planner_B.ix_h <= |
| 6694 | cartesian_trajectory_planner_B.c_A_size_idx_0; |
| 6695 | cartesian_trajectory_planner_B.ix_h++) { |
| 6696 | b_x->data[cartesian_trajectory_planner_B.ix_h] = |
| 6697 | cartesian_trajectory_planner_B.c_A_data[cartesian_trajectory_planner_B.ix_h]; |
| 6698 | } |
| 6699 | |
| 6700 | cartesian_trajectory_planner_B.jm1 = |
| 6701 | cartesian_trajectory_planner_B.idxAjj - |
| 6702 | cartesian_trajectory_planner_B.b_j_jk; |
| 6703 | for (cartesian_trajectory_planner_B.k_d = |
| 6704 | cartesian_trajectory_planner_B.idxAjj + 2; |
| 6705 | cartesian_trajectory_planner_B.k_d <= |
| 6706 | cartesian_trajectory_planner_B.jm1 + 7; |
| 6707 | cartesian_trajectory_planner_B.k_d++) { |
| 6708 | b_x->data[cartesian_trajectory_planner_B.k_d - 1] *= |
| 6709 | cartesian_trajectory_planner_B.ssq; |
| 6710 | } |
| 6711 | |
| 6712 | cartesian_trajectory_planner_B.c_A_size_idx_0 = b_x->size[0]; |
| 6713 | cartesian_trajectory_planner_B.c_A_size_idx_1 = b_x->size[1]; |
| 6714 | for (cartesian_trajectory_planner_B.ix_h = 0; |
| 6715 | cartesian_trajectory_planner_B.ix_h < 36; |
| 6716 | cartesian_trajectory_planner_B.ix_h++) { |
| 6717 | cartesian_trajectory_planner_B.c_A_data[cartesian_trajectory_planner_B.ix_h] |
| 6718 | = b_x->data[cartesian_trajectory_planner_B.ix_h]; |
| 6719 | } |
| 6720 | } |
| 6721 | |
| 6722 | cartesian_trajectory_planner_B.b_j_jk++; |
| 6723 | } else { |
| 6724 | cartesian_trajectory_planner_B.b_info = |
| 6725 | cartesian_trajectory_planner_B.b_j_jk; |
| 6726 | exitg1 = true; |
| 6727 | } |
| 6728 | } |
| 6729 | |
| 6730 | cartesian_trajec_emxFree_real_T(&b_x); |
| 6731 | return cartesian_trajectory_planner_B.b_info == 0; |
| 6732 | } |
| 6733 | |
| 6734 | static boolean_T DampedBFGSwGradientProjectio_as(const |
| 6735 | h_robotics_core_internal_Damp_T *obj, const real_T xNew[6]) |
| 6736 | { |
| 6737 | boolean_T flag; |
| 6738 | emxArray_real_T_cartesian_tra_T *b; |
| 6739 | emxArray_real_T_cartesian_tra_T *c; |
| 6740 | int32_T m; |
| 6741 | int32_T inner; |
| 6742 | int32_T b_i; |
| 6743 | int32_T loop_ub; |
| 6744 | emxArray_boolean_T_cartesian__T *c_0; |
| 6745 | cartesian_trajec_emxInit_real_T(&b, 2); |
| 6746 | cartesian_trajec_emxInit_real_T(&c, 1); |
| 6747 | cartesian_tra_emxInit_boolean_T(&c_0, 1); |
| 6748 | if (obj->ConstraintsOn) { |
| 6749 | b_i = b->size[0] * b->size[1]; |
| 6750 | b->size[0] = obj->ConstraintMatrix->size[0]; |
| 6751 | b->size[1] = obj->ConstraintMatrix->size[1]; |
| 6752 | cartes_emxEnsureCapacity_real_T(b, b_i); |
| 6753 | loop_ub = obj->ConstraintMatrix->size[0] * obj->ConstraintMatrix->size[1] - |
| 6754 | 1; |
| 6755 | for (b_i = 0; b_i <= loop_ub; b_i++) { |
| 6756 | b->data[b_i] = obj->ConstraintMatrix->data[b_i]; |
| 6757 | } |
| 6758 | |
| 6759 | m = b->size[1] - 1; |
| 6760 | inner = b->size[0] - 1; |
| 6761 | b_i = c->size[0]; |
| 6762 | c->size[0] = b->size[1]; |
| 6763 | cartes_emxEnsureCapacity_real_T(c, b_i); |
| 6764 | for (b_i = 0; b_i <= m; b_i++) { |
| 6765 | c->data[b_i] = 0.0; |
| 6766 | } |
| 6767 | |
| 6768 | for (b_i = 0; b_i <= inner; b_i++) { |
| 6769 | for (loop_ub = 0; loop_ub <= m; loop_ub++) { |
| 6770 | c->data[loop_ub] += b->data[loop_ub * b->size[0] + b_i] * xNew[b_i]; |
| 6771 | } |
| 6772 | } |
| 6773 | |
| 6774 | b_i = c_0->size[0]; |
| 6775 | c_0->size[0] = c->size[0]; |
| 6776 | car_emxEnsureCapacity_boolean_T(c_0, b_i); |
| 6777 | loop_ub = c->size[0]; |
| 6778 | for (b_i = 0; b_i < loop_ub; b_i++) { |
| 6779 | c_0->data[b_i] = (c->data[b_i] - obj->ConstraintBound->data[b_i] > |
| 6780 | 1.4901161193847656E-8); |
| 6781 | } |
| 6782 | |
| 6783 | if (cartesian_trajectory_planne_any(c_0)) { |
| 6784 | flag = true; |
| 6785 | } else { |
| 6786 | flag = false; |
| 6787 | } |
| 6788 | } else { |
| 6789 | flag = false; |
| 6790 | } |
| 6791 | |
| 6792 | cartesian_tra_emxFree_boolean_T(&c_0); |
| 6793 | cartesian_trajec_emxFree_real_T(&c); |
| 6794 | cartesian_trajec_emxFree_real_T(&b); |
| 6795 | return flag; |
| 6796 | } |
| 6797 | |
| 6798 | static void DampedBFGSwGradientProjection_s(h_robotics_core_internal_Damp_T *obj, |
| 6799 | real_T xSol[6], c_robotics_core_internal_NLPS_T *exitFlag, real_T *err, real_T |
| 6800 | *iter) |
| 6801 | { |
| 6802 | emxArray_real_T_cartesian_tra_T *unusedU1; |
| 6803 | emxArray_real_T_cartesian_tra_T *grad; |
| 6804 | emxArray_boolean_T_cartesian__T *activeSet; |
| 6805 | emxArray_real_T_cartesian_tra_T *A; |
| 6806 | emxArray_real_T_cartesian_tra_T *alpha; |
| 6807 | emxArray_real_T_cartesian_tra_T *AIn; |
| 6808 | emxArray_real_T_cartesian_tra_T *L; |
| 6809 | f_robotics_manip_internal_IKE_T *b; |
| 6810 | f_robotics_manip_internal_IKE_T *c; |
| 6811 | f_robotics_manip_internal_IKE_T *d; |
| 6812 | emxArray_int32_T_cartesian_tr_T *cb; |
| 6813 | emxArray_int32_T_cartesian_tr_T *db; |
| 6814 | emxArray_int32_T_cartesian_tr_T *eb; |
| 6815 | emxArray_int32_T_cartesian_tr_T *fb; |
| 6816 | emxArray_int32_T_cartesian_tr_T *gb; |
| 6817 | f_robotics_manip_internal_IKE_T *args; |
| 6818 | emxArray_real_T_cartesian_tra_T *a; |
| 6819 | emxArray_int32_T_cartesian_tr_T *ii; |
| 6820 | emxArray_real_T_cartesian_tra_T *y; |
| 6821 | emxArray_int32_T_cartesian_tr_T *ii_0; |
| 6822 | emxArray_real_T_cartesian_tra_T *y_0; |
| 6823 | emxArray_boolean_T_cartesian__T *x; |
| 6824 | emxArray_real_T_cartesian_tra_T *A_0; |
| 6825 | emxArray_real_T_cartesian_tra_T *A_1; |
| 6826 | emxArray_real_T_cartesian_tra_T *A_2; |
| 6827 | emxArray_real_T_cartesian_tra_T *sigma; |
| 6828 | emxArray_real_T_cartesian_tra_T *tmp; |
| 6829 | emxArray_real_T_cartesian_tra_T *tmp_0; |
| 6830 | emxArray_real_T_cartesian_tra_T *grad_0; |
| 6831 | emxArray_real_T_cartesian_tra_T *sNew; |
| 6832 | emxArray_int32_T_cartesian_tr_T *ii_1; |
| 6833 | emxArray_int32_T_cartesian_tr_T *ii_2; |
| 6834 | emxArray_real_T_cartesian_tra_T *grad_1; |
| 6835 | emxArray_real_T_cartesian_tra_T *A_3; |
| 6836 | emxArray_real_T_cartesian_tra_T *alpha_0; |
| 6837 | emxArray_int32_T_cartesian_tr_T *ii_3; |
| 6838 | static const int8_T tmp_1[36] = { 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, |
| 6839 | 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1 }; |
| 6840 | |
| 6841 | int32_T exitg1; |
| 6842 | int32_T exitg2; |
| 6843 | boolean_T exitg3; |
| 6844 | boolean_T guard1 = false; |
| 6845 | boolean_T guard2 = false; |
| 6846 | for (cartesian_trajectory_planner_B.i_e = 0; |
| 6847 | cartesian_trajectory_planner_B.i_e < 6; |
| 6848 | cartesian_trajectory_planner_B.i_e++) { |
| 6849 | cartesian_trajectory_planner_B.x[cartesian_trajectory_planner_B.i_e] = |
| 6850 | obj->SeedInternal[cartesian_trajectory_planner_B.i_e]; |
| 6851 | } |
| 6852 | |
| 6853 | cartesian_trajec_emxInit_real_T(&unusedU1, 2); |
| 6854 | cartesian_trajec_emxInit_real_T(&grad, 1); |
| 6855 | obj->TimeObjInternal.StartTime = ctimefun(); |
| 6856 | cartesian_IKHelpers_computeCost(cartesian_trajectory_planner_B.x, |
| 6857 | obj->ExtraArgs, &cartesian_trajectory_planner_B.cost, |
| 6858 | cartesian_trajectory_planner_B.unusedU0, unusedU1, &b); |
| 6859 | obj->ExtraArgs = b; |
| 6860 | args = obj->ExtraArgs; |
| 6861 | cartesian_trajectory_planner_B.b_i = grad->size[0]; |
| 6862 | grad->size[0] = args->GradTemp->size[0]; |
| 6863 | cartes_emxEnsureCapacity_real_T(grad, cartesian_trajectory_planner_B.b_i); |
| 6864 | cartesian_trajectory_planner_B.i_e = args->GradTemp->size[0]; |
| 6865 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 6866 | cartesian_trajectory_planner_B.b_i < cartesian_trajectory_planner_B.i_e; |
| 6867 | cartesian_trajectory_planner_B.b_i++) { |
| 6868 | grad->data[cartesian_trajectory_planner_B.b_i] = args->GradTemp-> |
| 6869 | data[cartesian_trajectory_planner_B.b_i]; |
| 6870 | } |
| 6871 | |
| 6872 | cartesian_trajectory_planne_eye(cartesian_trajectory_planner_B.unusedU0); |
| 6873 | memcpy(&cartesian_trajectory_planner_B.H[0], |
| 6874 | &cartesian_trajectory_planner_B.unusedU0[0], 36U * sizeof(real_T)); |
| 6875 | cartesian_tra_emxInit_boolean_T(&activeSet, 1); |
| 6876 | cartesian_trajec_emxInit_real_T(&A, 2); |
| 6877 | cartesian_trajec_emxInit_real_T(&alpha, 1); |
| 6878 | cartesian_traje_emxInit_int32_T(&ii, 1); |
| 6879 | if (obj->ConstraintsOn) { |
| 6880 | cartesian_trajectory_planner_B.b_i = A->size[0] * A->size[1]; |
| 6881 | A->size[0] = obj->ConstraintMatrix->size[0]; |
| 6882 | A->size[1] = obj->ConstraintMatrix->size[1]; |
| 6883 | cartes_emxEnsureCapacity_real_T(A, cartesian_trajectory_planner_B.b_i); |
| 6884 | cartesian_trajectory_planner_B.i_e = obj->ConstraintMatrix->size[0] * |
| 6885 | obj->ConstraintMatrix->size[1] - 1; |
| 6886 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 6887 | cartesian_trajectory_planner_B.b_i <= |
| 6888 | cartesian_trajectory_planner_B.i_e; cartesian_trajectory_planner_B.b_i |
| 6889 | ++) { |
| 6890 | A->data[cartesian_trajectory_planner_B.b_i] = obj->ConstraintMatrix-> |
| 6891 | data[cartesian_trajectory_planner_B.b_i]; |
| 6892 | } |
| 6893 | |
| 6894 | cartesian_trajectory_planner_B.m_p = A->size[1] - 1; |
| 6895 | cartesian_trajectory_planner_B.inner = A->size[0] - 1; |
| 6896 | cartesian_trajectory_planner_B.b_i = alpha->size[0]; |
| 6897 | alpha->size[0] = A->size[1]; |
| 6898 | cartes_emxEnsureCapacity_real_T(alpha, cartesian_trajectory_planner_B.b_i); |
| 6899 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 6900 | cartesian_trajectory_planner_B.b_i <= |
| 6901 | cartesian_trajectory_planner_B.m_p; cartesian_trajectory_planner_B.b_i |
| 6902 | ++) { |
| 6903 | alpha->data[cartesian_trajectory_planner_B.b_i] = 0.0; |
| 6904 | } |
| 6905 | |
| 6906 | for (cartesian_trajectory_planner_B.nx_i = 0; |
| 6907 | cartesian_trajectory_planner_B.nx_i <= |
| 6908 | cartesian_trajectory_planner_B.inner; |
| 6909 | cartesian_trajectory_planner_B.nx_i++) { |
| 6910 | for (cartesian_trajectory_planner_B.g_idx_0 = 0; |
| 6911 | cartesian_trajectory_planner_B.g_idx_0 <= |
| 6912 | cartesian_trajectory_planner_B.m_p; |
| 6913 | cartesian_trajectory_planner_B.g_idx_0++) { |
| 6914 | alpha->data[cartesian_trajectory_planner_B.g_idx_0] += A-> |
| 6915 | data[cartesian_trajectory_planner_B.g_idx_0 * A->size[0] + |
| 6916 | cartesian_trajectory_planner_B.nx_i] * |
| 6917 | cartesian_trajectory_planner_B.x[cartesian_trajectory_planner_B.nx_i]; |
| 6918 | } |
| 6919 | } |
| 6920 | |
| 6921 | cartesian_trajectory_planner_B.b_i = activeSet->size[0]; |
| 6922 | activeSet->size[0] = alpha->size[0]; |
| 6923 | car_emxEnsureCapacity_boolean_T(activeSet, |
| 6924 | cartesian_trajectory_planner_B.b_i); |
| 6925 | cartesian_trajectory_planner_B.i_e = alpha->size[0]; |
| 6926 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 6927 | cartesian_trajectory_planner_B.b_i < cartesian_trajectory_planner_B.i_e; |
| 6928 | cartesian_trajectory_planner_B.b_i++) { |
| 6929 | activeSet->data[cartesian_trajectory_planner_B.b_i] = (alpha-> |
| 6930 | data[cartesian_trajectory_planner_B.b_i] >= obj->ConstraintBound-> |
| 6931 | data[cartesian_trajectory_planner_B.b_i]); |
| 6932 | } |
| 6933 | |
| 6934 | cartesian_trajectory_planner_B.nx_i = activeSet->size[0] - 1; |
| 6935 | cartesian_trajectory_planner_B.idx = 0; |
| 6936 | for (cartesian_trajectory_planner_B.g_idx_0 = 0; |
| 6937 | cartesian_trajectory_planner_B.g_idx_0 <= |
| 6938 | cartesian_trajectory_planner_B.nx_i; |
| 6939 | cartesian_trajectory_planner_B.g_idx_0++) { |
| 6940 | if (activeSet->data[cartesian_trajectory_planner_B.g_idx_0]) { |
| 6941 | cartesian_trajectory_planner_B.idx++; |
| 6942 | } |
| 6943 | } |
| 6944 | |
| 6945 | cartesian_trajectory_planner_B.b_i = ii->size[0]; |
| 6946 | ii->size[0] = cartesian_trajectory_planner_B.idx; |
| 6947 | carte_emxEnsureCapacity_int32_T(ii, cartesian_trajectory_planner_B.b_i); |
| 6948 | cartesian_trajectory_planner_B.b_i = 0; |
| 6949 | for (cartesian_trajectory_planner_B.g_idx_0 = 0; |
| 6950 | cartesian_trajectory_planner_B.g_idx_0 <= |
| 6951 | cartesian_trajectory_planner_B.nx_i; |
| 6952 | cartesian_trajectory_planner_B.g_idx_0++) { |
| 6953 | if (activeSet->data[cartesian_trajectory_planner_B.g_idx_0]) { |
| 6954 | ii->data[cartesian_trajectory_planner_B.b_i] = |
| 6955 | cartesian_trajectory_planner_B.g_idx_0 + 1; |
| 6956 | cartesian_trajectory_planner_B.b_i++; |
| 6957 | } |
| 6958 | } |
| 6959 | |
| 6960 | cartesian_trajectory_planner_B.i_e = obj->ConstraintMatrix->size[0]; |
| 6961 | cartesian_trajectory_planner_B.b_i = A->size[0] * A->size[1]; |
| 6962 | A->size[0] = cartesian_trajectory_planner_B.i_e; |
| 6963 | A->size[1] = ii->size[0]; |
| 6964 | cartes_emxEnsureCapacity_real_T(A, cartesian_trajectory_planner_B.b_i); |
| 6965 | cartesian_trajectory_planner_B.n_f = ii->size[0]; |
| 6966 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 6967 | cartesian_trajectory_planner_B.b_i < cartesian_trajectory_planner_B.n_f; |
| 6968 | cartesian_trajectory_planner_B.b_i++) { |
| 6969 | for (cartesian_trajectory_planner_B.idx = 0; |
| 6970 | cartesian_trajectory_planner_B.idx < |
| 6971 | cartesian_trajectory_planner_B.i_e; |
| 6972 | cartesian_trajectory_planner_B.idx++) { |
| 6973 | A->data[cartesian_trajectory_planner_B.idx + A->size[0] * |
| 6974 | cartesian_trajectory_planner_B.b_i] = obj->ConstraintMatrix->data |
| 6975 | [(ii->data[cartesian_trajectory_planner_B.b_i] - 1) * |
| 6976 | obj->ConstraintMatrix->size[0] + cartesian_trajectory_planner_B.idx]; |
| 6977 | } |
| 6978 | } |
| 6979 | } else { |
| 6980 | cartesian_trajectory_planner_B.g_idx_0 = obj->ConstraintBound->size[0]; |
| 6981 | cartesian_trajectory_planner_B.b_i = activeSet->size[0]; |
| 6982 | activeSet->size[0] = cartesian_trajectory_planner_B.g_idx_0; |
| 6983 | car_emxEnsureCapacity_boolean_T(activeSet, |
| 6984 | cartesian_trajectory_planner_B.b_i); |
| 6985 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 6986 | cartesian_trajectory_planner_B.b_i < |
| 6987 | cartesian_trajectory_planner_B.g_idx_0; |
| 6988 | cartesian_trajectory_planner_B.b_i++) { |
| 6989 | activeSet->data[cartesian_trajectory_planner_B.b_i] = false; |
| 6990 | } |
| 6991 | |
| 6992 | A->size[0] = 6; |
| 6993 | A->size[1] = 0; |
| 6994 | } |
| 6995 | |
| 6996 | cartesian_trajectory_planner_B.j = A->size[1] - 1; |
| 6997 | cartesian_trajec_emxInit_real_T(&AIn, 2); |
| 6998 | cartesian_trajec_emxInit_real_T(&A_0, 2); |
| 6999 | cartesian_trajec_emxInit_real_T(&A_1, 1); |
| 7000 | for (cartesian_trajectory_planner_B.nx_i = 0; |
| 7001 | cartesian_trajectory_planner_B.nx_i <= cartesian_trajectory_planner_B.j; |
| 7002 | cartesian_trajectory_planner_B.nx_i++) { |
| 7003 | cartesian_trajectory_planner_B.i_e = A->size[0]; |
| 7004 | cartesian_trajectory_planner_B.b_i = A_0->size[0] * A_0->size[1]; |
| 7005 | A_0->size[0] = 1; |
| 7006 | A_0->size[1] = cartesian_trajectory_planner_B.i_e; |
| 7007 | cartes_emxEnsureCapacity_real_T(A_0, cartesian_trajectory_planner_B.b_i); |
| 7008 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7009 | cartesian_trajectory_planner_B.b_i < cartesian_trajectory_planner_B.i_e; |
| 7010 | cartesian_trajectory_planner_B.b_i++) { |
| 7011 | A_0->data[cartesian_trajectory_planner_B.b_i] = A->data[A->size[0] * |
| 7012 | cartesian_trajectory_planner_B.nx_i + cartesian_trajectory_planner_B.b_i]; |
| 7013 | } |
| 7014 | |
| 7015 | cartesian_trajectory_planner_B.i_e = A->size[0]; |
| 7016 | cartesian_trajectory_planner_B.b_i = A_1->size[0]; |
| 7017 | A_1->size[0] = cartesian_trajectory_planner_B.i_e; |
| 7018 | cartes_emxEnsureCapacity_real_T(A_1, cartesian_trajectory_planner_B.b_i); |
| 7019 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7020 | cartesian_trajectory_planner_B.b_i < cartesian_trajectory_planner_B.i_e; |
| 7021 | cartesian_trajectory_planner_B.b_i++) { |
| 7022 | A_1->data[cartesian_trajectory_planner_B.b_i] = A->data[A->size[0] * |
| 7023 | cartesian_trajectory_planner_B.nx_i + cartesian_trajectory_planner_B.b_i]; |
| 7024 | } |
| 7025 | |
| 7026 | cartesian_trajectory_planner_B.A_i = 0.0; |
| 7027 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7028 | cartesian_trajectory_planner_B.b_i < 6; |
| 7029 | cartesian_trajectory_planner_B.b_i++) { |
| 7030 | cartesian_trajectory_planner_B.Hg[cartesian_trajectory_planner_B.b_i] = |
| 7031 | 0.0; |
| 7032 | for (cartesian_trajectory_planner_B.idx = 0; |
| 7033 | cartesian_trajectory_planner_B.idx < 6; |
| 7034 | cartesian_trajectory_planner_B.idx++) { |
| 7035 | cartesian_trajectory_planner_B.s_j = cartesian_trajectory_planner_B.H[6 * |
| 7036 | cartesian_trajectory_planner_B.b_i + |
| 7037 | cartesian_trajectory_planner_B.idx] * A_0-> |
| 7038 | data[cartesian_trajectory_planner_B.idx] + |
| 7039 | cartesian_trajectory_planner_B.Hg[cartesian_trajectory_planner_B.b_i]; |
| 7040 | cartesian_trajectory_planner_B.Hg[cartesian_trajectory_planner_B.b_i] = |
| 7041 | cartesian_trajectory_planner_B.s_j; |
| 7042 | } |
| 7043 | |
| 7044 | cartesian_trajectory_planner_B.A_i += |
| 7045 | cartesian_trajectory_planner_B.Hg[cartesian_trajectory_planner_B.b_i] * |
| 7046 | A_1->data[cartesian_trajectory_planner_B.b_i]; |
| 7047 | } |
| 7048 | |
| 7049 | cartesian_trajectory_planner_B.s_j = 1.0 / |
| 7050 | cartesian_trajectory_planner_B.A_i; |
| 7051 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7052 | cartesian_trajectory_planner_B.b_i < 36; |
| 7053 | cartesian_trajectory_planner_B.b_i++) { |
| 7054 | cartesian_trajectory_planner_B.V[cartesian_trajectory_planner_B.b_i] = |
| 7055 | cartesian_trajectory_planner_B.s_j * |
| 7056 | cartesian_trajectory_planner_B.H[cartesian_trajectory_planner_B.b_i]; |
| 7057 | } |
| 7058 | |
| 7059 | cartesian_trajectory_planner_B.i_e = A->size[0]; |
| 7060 | cartesian_trajectory_planner_B.n_f = A->size[0]; |
| 7061 | cartesian_trajectory_planner_B.b_i = AIn->size[0] * AIn->size[1]; |
| 7062 | AIn->size[0] = cartesian_trajectory_planner_B.i_e; |
| 7063 | AIn->size[1] = cartesian_trajectory_planner_B.n_f; |
| 7064 | cartes_emxEnsureCapacity_real_T(AIn, cartesian_trajectory_planner_B.b_i); |
| 7065 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7066 | cartesian_trajectory_planner_B.b_i < cartesian_trajectory_planner_B.n_f; |
| 7067 | cartesian_trajectory_planner_B.b_i++) { |
| 7068 | for (cartesian_trajectory_planner_B.idx = 0; |
| 7069 | cartesian_trajectory_planner_B.idx < |
| 7070 | cartesian_trajectory_planner_B.i_e; |
| 7071 | cartesian_trajectory_planner_B.idx++) { |
| 7072 | AIn->data[cartesian_trajectory_planner_B.idx + AIn->size[0] * |
| 7073 | cartesian_trajectory_planner_B.b_i] = A->data[A->size[0] * |
| 7074 | cartesian_trajectory_planner_B.nx_i + |
| 7075 | cartesian_trajectory_planner_B.idx] * A->data[A->size[0] * |
| 7076 | cartesian_trajectory_planner_B.nx_i + |
| 7077 | cartesian_trajectory_planner_B.b_i]; |
| 7078 | } |
| 7079 | } |
| 7080 | |
| 7081 | cartesian_trajectory_planner_B.n_f = AIn->size[1] - 1; |
| 7082 | cartesian_trajectory_planner_B.b_i = unusedU1->size[0] * unusedU1->size[1]; |
| 7083 | unusedU1->size[0] = 6; |
| 7084 | unusedU1->size[1] = AIn->size[1]; |
| 7085 | cartes_emxEnsureCapacity_real_T(unusedU1, cartesian_trajectory_planner_B.b_i); |
| 7086 | for (cartesian_trajectory_planner_B.idx = 0; |
| 7087 | cartesian_trajectory_planner_B.idx <= |
| 7088 | cartesian_trajectory_planner_B.n_f; cartesian_trajectory_planner_B.idx |
| 7089 | ++) { |
| 7090 | cartesian_trajectory_planner_B.coffset = |
| 7091 | cartesian_trajectory_planner_B.idx * 6 - 1; |
| 7092 | cartesian_trajectory_planner_B.boffset = |
| 7093 | cartesian_trajectory_planner_B.idx * AIn->size[0] - 1; |
| 7094 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7095 | cartesian_trajectory_planner_B.b_i < 6; |
| 7096 | cartesian_trajectory_planner_B.b_i++) { |
| 7097 | cartesian_trajectory_planner_B.s_j = 0.0; |
| 7098 | for (cartesian_trajectory_planner_B.g_idx_0 = 0; |
| 7099 | cartesian_trajectory_planner_B.g_idx_0 < 6; |
| 7100 | cartesian_trajectory_planner_B.g_idx_0++) { |
| 7101 | cartesian_trajectory_planner_B.s_j += |
| 7102 | cartesian_trajectory_planner_B.V[cartesian_trajectory_planner_B.g_idx_0 |
| 7103 | * 6 + cartesian_trajectory_planner_B.b_i] * AIn->data |
| 7104 | [(cartesian_trajectory_planner_B.boffset + |
| 7105 | cartesian_trajectory_planner_B.g_idx_0) + 1]; |
| 7106 | } |
| 7107 | |
| 7108 | unusedU1->data[(cartesian_trajectory_planner_B.coffset + |
| 7109 | cartesian_trajectory_planner_B.b_i) + 1] = |
| 7110 | cartesian_trajectory_planner_B.s_j; |
| 7111 | } |
| 7112 | } |
| 7113 | |
| 7114 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7115 | cartesian_trajectory_planner_B.b_i < 6; |
| 7116 | cartesian_trajectory_planner_B.b_i++) { |
| 7117 | for (cartesian_trajectory_planner_B.idx = 0; |
| 7118 | cartesian_trajectory_planner_B.idx < 6; |
| 7119 | cartesian_trajectory_planner_B.idx++) { |
| 7120 | cartesian_trajectory_planner_B.s_j = 0.0; |
| 7121 | for (cartesian_trajectory_planner_B.i_e = 0; |
| 7122 | cartesian_trajectory_planner_B.i_e < 6; |
| 7123 | cartesian_trajectory_planner_B.i_e++) { |
| 7124 | cartesian_trajectory_planner_B.s_j += unusedU1->data[6 * |
| 7125 | cartesian_trajectory_planner_B.i_e + |
| 7126 | cartesian_trajectory_planner_B.b_i] * |
| 7127 | cartesian_trajectory_planner_B.H[6 * |
| 7128 | cartesian_trajectory_planner_B.idx + |
| 7129 | cartesian_trajectory_planner_B.i_e]; |
| 7130 | } |
| 7131 | |
| 7132 | cartesian_trajectory_planner_B.idxl = 6 * |
| 7133 | cartesian_trajectory_planner_B.idx + |
| 7134 | cartesian_trajectory_planner_B.b_i; |
| 7135 | cartesian_trajectory_planner_B.H_m[cartesian_trajectory_planner_B.idxl] = |
| 7136 | cartesian_trajectory_planner_B.H[cartesian_trajectory_planner_B.idxl] |
| 7137 | - cartesian_trajectory_planner_B.s_j; |
| 7138 | } |
| 7139 | } |
| 7140 | |
| 7141 | memcpy(&cartesian_trajectory_planner_B.H[0], |
| 7142 | &cartesian_trajectory_planner_B.H_m[0], 36U * sizeof(real_T)); |
| 7143 | } |
| 7144 | |
| 7145 | cartesian_trajec_emxFree_real_T(&A_1); |
| 7146 | cartesian_trajec_emxFree_real_T(&A_0); |
| 7147 | for (cartesian_trajectory_planner_B.i_e = 0; |
| 7148 | cartesian_trajectory_planner_B.i_e < 6; |
| 7149 | cartesian_trajectory_planner_B.i_e++) { |
| 7150 | xSol[cartesian_trajectory_planner_B.i_e] = |
| 7151 | cartesian_trajectory_planner_B.x[cartesian_trajectory_planner_B.i_e]; |
| 7152 | } |
| 7153 | |
| 7154 | cartesian_trajectory_planner_B.A_i = obj->MaxNumIterationInternal; |
| 7155 | cartesian_trajectory_planner_B.g_idx_0 = 0; |
| 7156 | cartesian_trajec_emxInit_real_T(&L, 1); |
| 7157 | cartesian_traje_emxInit_int32_T(&cb, 1); |
| 7158 | cartesian_traje_emxInit_int32_T(&db, 1); |
| 7159 | cartesian_traje_emxInit_int32_T(&eb, 1); |
| 7160 | cartesian_traje_emxInit_int32_T(&fb, 1); |
| 7161 | cartesian_traje_emxInit_int32_T(&gb, 1); |
| 7162 | cartesian_trajec_emxInit_real_T(&a, 2); |
| 7163 | cartesian_trajec_emxInit_real_T(&y, 1); |
| 7164 | cartesian_traje_emxInit_int32_T(&ii_0, 1); |
| 7165 | cartesian_trajec_emxInit_real_T(&y_0, 2); |
| 7166 | cartesian_tra_emxInit_boolean_T(&x, 1); |
| 7167 | cartesian_trajec_emxInit_real_T(&A_2, 2); |
| 7168 | cartesian_trajec_emxInit_real_T(&sigma, 2); |
| 7169 | cartesian_trajec_emxInit_real_T(&tmp, 2); |
| 7170 | cartesian_trajec_emxInit_real_T(&tmp_0, 2); |
| 7171 | cartesian_trajec_emxInit_real_T(&grad_0, 2); |
| 7172 | cartesian_trajec_emxInit_real_T(&sNew, 2); |
| 7173 | cartesian_traje_emxInit_int32_T(&ii_1, 1); |
| 7174 | cartesian_traje_emxInit_int32_T(&ii_2, 1); |
| 7175 | cartesian_trajec_emxInit_real_T(&grad_1, 2); |
| 7176 | cartesian_trajec_emxInit_real_T(&A_3, 2); |
| 7177 | cartesian_trajec_emxInit_real_T(&alpha_0, 2); |
| 7178 | cartesian_traje_emxInit_int32_T(&ii_3, 1); |
| 7179 | do { |
| 7180 | exitg2 = 0; |
| 7181 | if (cartesian_trajectory_planner_B.g_idx_0 <= static_cast<int32_T> |
| 7182 | (cartesian_trajectory_planner_B.A_i) - 1) { |
| 7183 | cartesian_trajectory_planner_B.s_j = SystemTimeProvider_getElapsedTi |
| 7184 | (&obj->TimeObjInternal); |
| 7185 | cartesian_trajectory_planner_B.flag = (cartesian_trajectory_planner_B.s_j > |
| 7186 | obj->MaxTimeInternal); |
| 7187 | if (cartesian_trajectory_planner_B.flag) { |
| 7188 | *exitFlag = TimeLimitExceeded; |
| 7189 | args = obj->ExtraArgs; |
| 7190 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7191 | cartesian_trajectory_planner_B.b_i < 36; |
| 7192 | cartesian_trajectory_planner_B.b_i++) { |
| 7193 | cartesian_trajectory_planner_B.unusedU0[cartesian_trajectory_planner_B.b_i] |
| 7194 | = args->WeightMatrix[cartesian_trajectory_planner_B.b_i]; |
| 7195 | } |
| 7196 | |
| 7197 | cartesian_trajectory_planner_B.b_i = grad->size[0]; |
| 7198 | grad->size[0] = args->ErrTemp->size[0]; |
| 7199 | cartes_emxEnsureCapacity_real_T(grad, cartesian_trajectory_planner_B.b_i); |
| 7200 | cartesian_trajectory_planner_B.i_e = args->ErrTemp->size[0]; |
| 7201 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7202 | cartesian_trajectory_planner_B.b_i < |
| 7203 | cartesian_trajectory_planner_B.i_e; |
| 7204 | cartesian_trajectory_planner_B.b_i++) { |
| 7205 | grad->data[cartesian_trajectory_planner_B.b_i] = args->ErrTemp-> |
| 7206 | data[cartesian_trajectory_planner_B.b_i]; |
| 7207 | } |
| 7208 | |
| 7209 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7210 | cartesian_trajectory_planner_B.b_i < 6; |
| 7211 | cartesian_trajectory_planner_B.b_i++) { |
| 7212 | cartesian_trajectory_planner_B.x[cartesian_trajectory_planner_B.b_i] = |
| 7213 | 0.0; |
| 7214 | for (cartesian_trajectory_planner_B.idx = 0; |
| 7215 | cartesian_trajectory_planner_B.idx < 6; |
| 7216 | cartesian_trajectory_planner_B.idx++) { |
| 7217 | cartesian_trajectory_planner_B.A_i = |
| 7218 | cartesian_trajectory_planner_B.unusedU0[6 * |
| 7219 | cartesian_trajectory_planner_B.idx + |
| 7220 | cartesian_trajectory_planner_B.b_i] * grad-> |
| 7221 | data[cartesian_trajectory_planner_B.idx] + |
| 7222 | cartesian_trajectory_planner_B.x[cartesian_trajectory_planner_B.b_i]; |
| 7223 | cartesian_trajectory_planner_B.x[cartesian_trajectory_planner_B.b_i] |
| 7224 | = cartesian_trajectory_planner_B.A_i; |
| 7225 | } |
| 7226 | } |
| 7227 | |
| 7228 | *err = cartesian_trajectory_pla_norm_a(cartesian_trajectory_planner_B.x); |
| 7229 | *iter = static_cast<real_T>(cartesian_trajectory_planner_B.g_idx_0) + |
| 7230 | 1.0; |
| 7231 | exitg2 = 1; |
| 7232 | } else { |
| 7233 | if ((A->size[0] == 0) || (A->size[1] == 0)) { |
| 7234 | cartesian_trajectory_planner_B.b_i = alpha->size[0]; |
| 7235 | alpha->size[0] = 1; |
| 7236 | cartes_emxEnsureCapacity_real_T(alpha, |
| 7237 | cartesian_trajectory_planner_B.b_i); |
| 7238 | alpha->data[0] = 0.0; |
| 7239 | } else { |
| 7240 | cartesian_trajectory_planner_B.m_p = A->size[1] - 1; |
| 7241 | cartesian_trajectory_planner_B.inner = A->size[0] - 1; |
| 7242 | cartesian_trajectory_planner_B.n_f = A->size[1] - 1; |
| 7243 | cartesian_trajectory_planner_B.b_i = AIn->size[0] * AIn->size[1]; |
| 7244 | AIn->size[0] = A->size[1]; |
| 7245 | AIn->size[1] = A->size[1]; |
| 7246 | cartes_emxEnsureCapacity_real_T(AIn, |
| 7247 | cartesian_trajectory_planner_B.b_i); |
| 7248 | for (cartesian_trajectory_planner_B.idx = 0; |
| 7249 | cartesian_trajectory_planner_B.idx <= |
| 7250 | cartesian_trajectory_planner_B.n_f; |
| 7251 | cartesian_trajectory_planner_B.idx++) { |
| 7252 | cartesian_trajectory_planner_B.coffset = |
| 7253 | (cartesian_trajectory_planner_B.m_p + 1) * |
| 7254 | cartesian_trajectory_planner_B.idx - 1; |
| 7255 | cartesian_trajectory_planner_B.boffset = |
| 7256 | cartesian_trajectory_planner_B.idx * A->size[0] - 1; |
| 7257 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7258 | cartesian_trajectory_planner_B.b_i <= |
| 7259 | cartesian_trajectory_planner_B.m_p; |
| 7260 | cartesian_trajectory_planner_B.b_i++) { |
| 7261 | AIn->data[(cartesian_trajectory_planner_B.coffset + |
| 7262 | cartesian_trajectory_planner_B.b_i) + 1] = 0.0; |
| 7263 | } |
| 7264 | |
| 7265 | for (cartesian_trajectory_planner_B.nx_i = 0; |
| 7266 | cartesian_trajectory_planner_B.nx_i <= |
| 7267 | cartesian_trajectory_planner_B.inner; |
| 7268 | cartesian_trajectory_planner_B.nx_i++) { |
| 7269 | cartesian_trajectory_planner_B.s_j = A->data |
| 7270 | [(cartesian_trajectory_planner_B.boffset + |
| 7271 | cartesian_trajectory_planner_B.nx_i) + 1]; |
| 7272 | for (cartesian_trajectory_planner_B.j = 0; |
| 7273 | cartesian_trajectory_planner_B.j <= |
| 7274 | cartesian_trajectory_planner_B.m_p; |
| 7275 | cartesian_trajectory_planner_B.j++) { |
| 7276 | cartesian_trajectory_planner_B.b_i = |
| 7277 | (cartesian_trajectory_planner_B.coffset + |
| 7278 | cartesian_trajectory_planner_B.j) + 1; |
| 7279 | AIn->data[cartesian_trajectory_planner_B.b_i] += A-> |
| 7280 | data[cartesian_trajectory_planner_B.j * A->size[0] + |
| 7281 | cartesian_trajectory_planner_B.nx_i] * |
| 7282 | cartesian_trajectory_planner_B.s_j; |
| 7283 | } |
| 7284 | } |
| 7285 | } |
| 7286 | |
| 7287 | cartesian_trajectory_planner_B.b_i = A_2->size[0] * A_2->size[1]; |
| 7288 | A_2->size[0] = A->size[1]; |
| 7289 | A_2->size[1] = A->size[0]; |
| 7290 | cartes_emxEnsureCapacity_real_T(A_2, |
| 7291 | cartesian_trajectory_planner_B.b_i); |
| 7292 | cartesian_trajectory_planner_B.i_e = A->size[0]; |
| 7293 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7294 | cartesian_trajectory_planner_B.b_i < |
| 7295 | cartesian_trajectory_planner_B.i_e; |
| 7296 | cartesian_trajectory_planner_B.b_i++) { |
| 7297 | cartesian_trajectory_planner_B.n_f = A->size[1]; |
| 7298 | for (cartesian_trajectory_planner_B.idx = 0; |
| 7299 | cartesian_trajectory_planner_B.idx < |
| 7300 | cartesian_trajectory_planner_B.n_f; |
| 7301 | cartesian_trajectory_planner_B.idx++) { |
| 7302 | A_2->data[cartesian_trajectory_planner_B.idx + A_2->size[0] * |
| 7303 | cartesian_trajectory_planner_B.b_i] = A->data[A->size[0] * |
| 7304 | cartesian_trajectory_planner_B.idx + |
| 7305 | cartesian_trajectory_planner_B.b_i]; |
| 7306 | } |
| 7307 | } |
| 7308 | |
| 7309 | cartesian_trajectory_p_mldivide(AIn, A_2, a); |
| 7310 | cartesian_trajectory_planner_B.m_p = a->size[0] - 1; |
| 7311 | cartesian_trajectory_planner_B.inner = a->size[1] - 1; |
| 7312 | cartesian_trajectory_planner_B.b_i = alpha->size[0]; |
| 7313 | alpha->size[0] = a->size[0]; |
| 7314 | cartes_emxEnsureCapacity_real_T(alpha, |
| 7315 | cartesian_trajectory_planner_B.b_i); |
| 7316 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7317 | cartesian_trajectory_planner_B.b_i <= |
| 7318 | cartesian_trajectory_planner_B.m_p; |
| 7319 | cartesian_trajectory_planner_B.b_i++) { |
| 7320 | alpha->data[cartesian_trajectory_planner_B.b_i] = 0.0; |
| 7321 | } |
| 7322 | |
| 7323 | for (cartesian_trajectory_planner_B.nx_i = 0; |
| 7324 | cartesian_trajectory_planner_B.nx_i <= |
| 7325 | cartesian_trajectory_planner_B.inner; |
| 7326 | cartesian_trajectory_planner_B.nx_i++) { |
| 7327 | cartesian_trajectory_planner_B.aoffset = |
| 7328 | cartesian_trajectory_planner_B.nx_i * a->size[0] - 1; |
| 7329 | for (cartesian_trajectory_planner_B.j = 0; |
| 7330 | cartesian_trajectory_planner_B.j <= |
| 7331 | cartesian_trajectory_planner_B.m_p; |
| 7332 | cartesian_trajectory_planner_B.j++) { |
| 7333 | alpha->data[cartesian_trajectory_planner_B.j] += a->data |
| 7334 | [(cartesian_trajectory_planner_B.aoffset + |
| 7335 | cartesian_trajectory_planner_B.j) + 1] * grad-> |
| 7336 | data[cartesian_trajectory_planner_B.nx_i]; |
| 7337 | } |
| 7338 | } |
| 7339 | } |
| 7340 | |
| 7341 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7342 | cartesian_trajectory_planner_B.b_i < 6; |
| 7343 | cartesian_trajectory_planner_B.b_i++) { |
| 7344 | cartesian_trajectory_planner_B.Hg[cartesian_trajectory_planner_B.b_i] = |
| 7345 | 0.0; |
| 7346 | for (cartesian_trajectory_planner_B.idx = 0; |
| 7347 | cartesian_trajectory_planner_B.idx < 6; |
| 7348 | cartesian_trajectory_planner_B.idx++) { |
| 7349 | cartesian_trajectory_planner_B.b_gamma = |
| 7350 | cartesian_trajectory_planner_B.H[6 * |
| 7351 | cartesian_trajectory_planner_B.idx + |
| 7352 | cartesian_trajectory_planner_B.b_i] * grad-> |
| 7353 | data[cartesian_trajectory_planner_B.idx] + |
| 7354 | cartesian_trajectory_planner_B.Hg[cartesian_trajectory_planner_B.b_i]; |
| 7355 | cartesian_trajectory_planner_B.Hg[cartesian_trajectory_planner_B.b_i] |
| 7356 | = cartesian_trajectory_planner_B.b_gamma; |
| 7357 | } |
| 7358 | } |
| 7359 | |
| 7360 | if (DampedBFGSwGradientProjection_a(obj, |
| 7361 | cartesian_trajectory_planner_B.Hg, alpha)) { |
| 7362 | *exitFlag = LocalMinimumFound; |
| 7363 | args = obj->ExtraArgs; |
| 7364 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7365 | cartesian_trajectory_planner_B.b_i < 36; |
| 7366 | cartesian_trajectory_planner_B.b_i++) { |
| 7367 | cartesian_trajectory_planner_B.unusedU0[cartesian_trajectory_planner_B.b_i] |
| 7368 | = args->WeightMatrix[cartesian_trajectory_planner_B.b_i]; |
| 7369 | } |
| 7370 | |
| 7371 | cartesian_trajectory_planner_B.b_i = grad->size[0]; |
| 7372 | grad->size[0] = args->ErrTemp->size[0]; |
| 7373 | cartes_emxEnsureCapacity_real_T(grad, |
| 7374 | cartesian_trajectory_planner_B.b_i); |
| 7375 | cartesian_trajectory_planner_B.i_e = args->ErrTemp->size[0]; |
| 7376 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7377 | cartesian_trajectory_planner_B.b_i < |
| 7378 | cartesian_trajectory_planner_B.i_e; |
| 7379 | cartesian_trajectory_planner_B.b_i++) { |
| 7380 | grad->data[cartesian_trajectory_planner_B.b_i] = args->ErrTemp-> |
| 7381 | data[cartesian_trajectory_planner_B.b_i]; |
| 7382 | } |
| 7383 | |
| 7384 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7385 | cartesian_trajectory_planner_B.b_i < 6; |
| 7386 | cartesian_trajectory_planner_B.b_i++) { |
| 7387 | cartesian_trajectory_planner_B.x[cartesian_trajectory_planner_B.b_i] |
| 7388 | = 0.0; |
| 7389 | for (cartesian_trajectory_planner_B.idx = 0; |
| 7390 | cartesian_trajectory_planner_B.idx < 6; |
| 7391 | cartesian_trajectory_planner_B.idx++) { |
| 7392 | cartesian_trajectory_planner_B.A_i = |
| 7393 | cartesian_trajectory_planner_B.unusedU0[6 * |
| 7394 | cartesian_trajectory_planner_B.idx + |
| 7395 | cartesian_trajectory_planner_B.b_i] * grad-> |
| 7396 | data[cartesian_trajectory_planner_B.idx] + |
| 7397 | cartesian_trajectory_planner_B.x[cartesian_trajectory_planner_B.b_i]; |
| 7398 | cartesian_trajectory_planner_B.x[cartesian_trajectory_planner_B.b_i] |
| 7399 | = cartesian_trajectory_planner_B.A_i; |
| 7400 | } |
| 7401 | } |
| 7402 | |
| 7403 | *err = cartesian_trajectory_pla_norm_a |
| 7404 | (cartesian_trajectory_planner_B.x); |
| 7405 | *iter = static_cast<real_T>(cartesian_trajectory_planner_B.g_idx_0) + |
| 7406 | 1.0; |
| 7407 | exitg2 = 1; |
| 7408 | } else { |
| 7409 | guard1 = false; |
| 7410 | guard2 = false; |
| 7411 | if (obj->ConstraintsOn && ((A->size[0] != 0) && (A->size[1] != 0))) { |
| 7412 | cartesian_trajectory_planner_B.m_p = A->size[1] - 1; |
| 7413 | cartesian_trajectory_planner_B.inner = A->size[0] - 1; |
| 7414 | cartesian_trajectory_planner_B.n_f = A->size[1] - 1; |
| 7415 | cartesian_trajectory_planner_B.b_i = AIn->size[0] * AIn->size[1]; |
| 7416 | AIn->size[0] = A->size[1]; |
| 7417 | AIn->size[1] = A->size[1]; |
| 7418 | cartes_emxEnsureCapacity_real_T(AIn, |
| 7419 | cartesian_trajectory_planner_B.b_i); |
| 7420 | for (cartesian_trajectory_planner_B.idx = 0; |
| 7421 | cartesian_trajectory_planner_B.idx <= |
| 7422 | cartesian_trajectory_planner_B.n_f; |
| 7423 | cartesian_trajectory_planner_B.idx++) { |
| 7424 | cartesian_trajectory_planner_B.coffset = |
| 7425 | (cartesian_trajectory_planner_B.m_p + 1) * |
| 7426 | cartesian_trajectory_planner_B.idx - 1; |
| 7427 | cartesian_trajectory_planner_B.boffset = |
| 7428 | cartesian_trajectory_planner_B.idx * A->size[0] - 1; |
| 7429 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7430 | cartesian_trajectory_planner_B.b_i <= |
| 7431 | cartesian_trajectory_planner_B.m_p; |
| 7432 | cartesian_trajectory_planner_B.b_i++) { |
| 7433 | AIn->data[(cartesian_trajectory_planner_B.coffset + |
| 7434 | cartesian_trajectory_planner_B.b_i) + 1] = 0.0; |
| 7435 | } |
| 7436 | |
| 7437 | for (cartesian_trajectory_planner_B.nx_i = 0; |
| 7438 | cartesian_trajectory_planner_B.nx_i <= |
| 7439 | cartesian_trajectory_planner_B.inner; |
| 7440 | cartesian_trajectory_planner_B.nx_i++) { |
| 7441 | cartesian_trajectory_planner_B.s_j = A->data |
| 7442 | [(cartesian_trajectory_planner_B.boffset + |
| 7443 | cartesian_trajectory_planner_B.nx_i) + 1]; |
| 7444 | for (cartesian_trajectory_planner_B.j = 0; |
| 7445 | cartesian_trajectory_planner_B.j <= |
| 7446 | cartesian_trajectory_planner_B.m_p; |
| 7447 | cartesian_trajectory_planner_B.j++) { |
| 7448 | cartesian_trajectory_planner_B.b_i = |
| 7449 | (cartesian_trajectory_planner_B.coffset + |
| 7450 | cartesian_trajectory_planner_B.j) + 1; |
| 7451 | AIn->data[cartesian_trajectory_planner_B.b_i] += A-> |
| 7452 | data[cartesian_trajectory_planner_B.j * A->size[0] + |
| 7453 | cartesian_trajectory_planner_B.nx_i] * |
| 7454 | cartesian_trajectory_planner_B.s_j; |
| 7455 | } |
| 7456 | } |
| 7457 | } |
| 7458 | |
| 7459 | cartesian_trajectory_planne_inv(AIn, a); |
| 7460 | cartesian_trajectory_plann_diag(a, L); |
| 7461 | cartesian_trajectory_pl_sqrt_as(L); |
| 7462 | cartesian_trajectory_planner_B.b_i = alpha->size[0]; |
| 7463 | cartes_emxEnsureCapacity_real_T(alpha, |
| 7464 | cartesian_trajectory_planner_B.b_i); |
| 7465 | cartesian_trajectory_planner_B.i_e = alpha->size[0]; |
| 7466 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7467 | cartesian_trajectory_planner_B.b_i < |
| 7468 | cartesian_trajectory_planner_B.i_e; |
| 7469 | cartesian_trajectory_planner_B.b_i++) { |
| 7470 | alpha->data[cartesian_trajectory_planner_B.b_i] /= L-> |
| 7471 | data[cartesian_trajectory_planner_B.b_i]; |
| 7472 | } |
| 7473 | |
| 7474 | cartesian_trajectory_planner_B.n_f = alpha->size[0]; |
| 7475 | if (alpha->size[0] <= 2) { |
| 7476 | if (alpha->size[0] == 1) { |
| 7477 | cartesian_trajectory_planner_B.s_j = alpha->data[0]; |
| 7478 | cartesian_trajectory_planner_B.idxl = 0; |
| 7479 | } else if ((alpha->data[0] < alpha->data[1]) || (rtIsNaN |
| 7480 | (alpha->data[0]) && (!rtIsNaN(alpha->data[1])))) { |
| 7481 | cartesian_trajectory_planner_B.s_j = alpha->data[1]; |
| 7482 | cartesian_trajectory_planner_B.idxl = 1; |
| 7483 | } else { |
| 7484 | cartesian_trajectory_planner_B.s_j = alpha->data[0]; |
| 7485 | cartesian_trajectory_planner_B.idxl = 0; |
| 7486 | } |
| 7487 | } else { |
| 7488 | if (!rtIsNaN(alpha->data[0])) { |
| 7489 | cartesian_trajectory_planner_B.idxl = 1; |
| 7490 | } else { |
| 7491 | cartesian_trajectory_planner_B.idxl = 0; |
| 7492 | cartesian_trajectory_planner_B.b_i = 2; |
| 7493 | exitg3 = false; |
| 7494 | while ((!exitg3) && (cartesian_trajectory_planner_B.b_i <= |
| 7495 | alpha->size[0])) { |
| 7496 | if (!rtIsNaN(alpha->data[cartesian_trajectory_planner_B.b_i - |
| 7497 | 1])) { |
| 7498 | cartesian_trajectory_planner_B.idxl = |
| 7499 | cartesian_trajectory_planner_B.b_i; |
| 7500 | exitg3 = true; |
| 7501 | } else { |
| 7502 | cartesian_trajectory_planner_B.b_i++; |
| 7503 | } |
| 7504 | } |
| 7505 | } |
| 7506 | |
| 7507 | if (cartesian_trajectory_planner_B.idxl == 0) { |
| 7508 | cartesian_trajectory_planner_B.s_j = alpha->data[0]; |
| 7509 | } else { |
| 7510 | cartesian_trajectory_planner_B.s_j = alpha-> |
| 7511 | data[cartesian_trajectory_planner_B.idxl - 1]; |
| 7512 | cartesian_trajectory_planner_B.nx_i = |
| 7513 | cartesian_trajectory_planner_B.idxl; |
| 7514 | for (cartesian_trajectory_planner_B.b_i = |
| 7515 | cartesian_trajectory_planner_B.idxl + 1; |
| 7516 | cartesian_trajectory_planner_B.b_i <= |
| 7517 | cartesian_trajectory_planner_B.n_f; |
| 7518 | cartesian_trajectory_planner_B.b_i++) { |
| 7519 | if (cartesian_trajectory_planner_B.s_j < alpha-> |
| 7520 | data[cartesian_trajectory_planner_B.b_i - 1]) { |
| 7521 | cartesian_trajectory_planner_B.s_j = alpha-> |
| 7522 | data[cartesian_trajectory_planner_B.b_i - 1]; |
| 7523 | cartesian_trajectory_planner_B.nx_i = |
| 7524 | cartesian_trajectory_planner_B.b_i; |
| 7525 | } |
| 7526 | } |
| 7527 | |
| 7528 | cartesian_trajectory_planner_B.idxl = |
| 7529 | cartesian_trajectory_planner_B.nx_i - 1; |
| 7530 | } |
| 7531 | } |
| 7532 | |
| 7533 | if (cartesian_trajectory_pla_norm_a |
| 7534 | (cartesian_trajectory_planner_B.Hg) < 0.5 * |
| 7535 | cartesian_trajectory_planner_B.s_j) { |
| 7536 | cartesian_trajectory_planner_B.nx_i = activeSet->size[0]; |
| 7537 | cartesian_trajectory_planner_B.idx = 0; |
| 7538 | cartesian_trajectory_planner_B.b_i = ii->size[0]; |
| 7539 | ii->size[0] = activeSet->size[0]; |
| 7540 | carte_emxEnsureCapacity_int32_T(ii, |
| 7541 | cartesian_trajectory_planner_B.b_i); |
| 7542 | cartesian_trajectory_planner_B.b_i = 1; |
| 7543 | exitg3 = false; |
| 7544 | while ((!exitg3) && (cartesian_trajectory_planner_B.b_i - 1 <= |
| 7545 | cartesian_trajectory_planner_B.nx_i - 1)) { |
| 7546 | if (activeSet->data[cartesian_trajectory_planner_B.b_i - 1]) { |
| 7547 | cartesian_trajectory_planner_B.idx++; |
| 7548 | ii->data[cartesian_trajectory_planner_B.idx - 1] = |
| 7549 | cartesian_trajectory_planner_B.b_i; |
| 7550 | if (cartesian_trajectory_planner_B.idx >= |
| 7551 | cartesian_trajectory_planner_B.nx_i) { |
| 7552 | exitg3 = true; |
| 7553 | } else { |
| 7554 | cartesian_trajectory_planner_B.b_i++; |
| 7555 | } |
| 7556 | } else { |
| 7557 | cartesian_trajectory_planner_B.b_i++; |
| 7558 | } |
| 7559 | } |
| 7560 | |
| 7561 | if (activeSet->size[0] == 1) { |
| 7562 | if (cartesian_trajectory_planner_B.idx == 0) { |
| 7563 | ii->size[0] = 0; |
| 7564 | } |
| 7565 | } else { |
| 7566 | if (1 > cartesian_trajectory_planner_B.idx) { |
| 7567 | cartesian_trajectory_planner_B.idx = 0; |
| 7568 | } |
| 7569 | |
| 7570 | cartesian_trajectory_planner_B.b_i = ii_1->size[0]; |
| 7571 | ii_1->size[0] = cartesian_trajectory_planner_B.idx; |
| 7572 | carte_emxEnsureCapacity_int32_T(ii_1, |
| 7573 | cartesian_trajectory_planner_B.b_i); |
| 7574 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7575 | cartesian_trajectory_planner_B.b_i < |
| 7576 | cartesian_trajectory_planner_B.idx; |
| 7577 | cartesian_trajectory_planner_B.b_i++) { |
| 7578 | ii_1->data[cartesian_trajectory_planner_B.b_i] = ii-> |
| 7579 | data[cartesian_trajectory_planner_B.b_i]; |
| 7580 | } |
| 7581 | |
| 7582 | cartesian_trajectory_planner_B.b_i = ii->size[0]; |
| 7583 | ii->size[0] = ii_1->size[0]; |
| 7584 | carte_emxEnsureCapacity_int32_T(ii, |
| 7585 | cartesian_trajectory_planner_B.b_i); |
| 7586 | cartesian_trajectory_planner_B.i_e = ii_1->size[0]; |
| 7587 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7588 | cartesian_trajectory_planner_B.b_i < |
| 7589 | cartesian_trajectory_planner_B.i_e; |
| 7590 | cartesian_trajectory_planner_B.b_i++) { |
| 7591 | ii->data[cartesian_trajectory_planner_B.b_i] = ii_1-> |
| 7592 | data[cartesian_trajectory_planner_B.b_i]; |
| 7593 | } |
| 7594 | } |
| 7595 | |
| 7596 | cartesian_trajectory_planner_B.b_i = alpha->size[0]; |
| 7597 | alpha->size[0] = ii->size[0]; |
| 7598 | cartes_emxEnsureCapacity_real_T(alpha, |
| 7599 | cartesian_trajectory_planner_B.b_i); |
| 7600 | cartesian_trajectory_planner_B.i_e = ii->size[0]; |
| 7601 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7602 | cartesian_trajectory_planner_B.b_i < |
| 7603 | cartesian_trajectory_planner_B.i_e; |
| 7604 | cartesian_trajectory_planner_B.b_i++) { |
| 7605 | alpha->data[cartesian_trajectory_planner_B.b_i] = ii-> |
| 7606 | data[cartesian_trajectory_planner_B.b_i]; |
| 7607 | } |
| 7608 | |
| 7609 | activeSet->data[static_cast<int32_T>(alpha-> |
| 7610 | data[cartesian_trajectory_planner_B.idxl]) - 1] = false; |
| 7611 | cartesian_trajectory_planner_B.nx_i = activeSet->size[0] - 1; |
| 7612 | cartesian_trajectory_planner_B.idx = 0; |
| 7613 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7614 | cartesian_trajectory_planner_B.b_i <= |
| 7615 | cartesian_trajectory_planner_B.nx_i; |
| 7616 | cartesian_trajectory_planner_B.b_i++) { |
| 7617 | if (activeSet->data[cartesian_trajectory_planner_B.b_i]) { |
| 7618 | cartesian_trajectory_planner_B.idx++; |
| 7619 | } |
| 7620 | } |
| 7621 | |
| 7622 | cartesian_trajectory_planner_B.b_i = eb->size[0]; |
| 7623 | eb->size[0] = cartesian_trajectory_planner_B.idx; |
| 7624 | carte_emxEnsureCapacity_int32_T(eb, |
| 7625 | cartesian_trajectory_planner_B.b_i); |
| 7626 | cartesian_trajectory_planner_B.idx = 0; |
| 7627 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7628 | cartesian_trajectory_planner_B.b_i <= |
| 7629 | cartesian_trajectory_planner_B.nx_i; |
| 7630 | cartesian_trajectory_planner_B.b_i++) { |
| 7631 | if (activeSet->data[cartesian_trajectory_planner_B.b_i]) { |
| 7632 | eb->data[cartesian_trajectory_planner_B.idx] = |
| 7633 | cartesian_trajectory_planner_B.b_i + 1; |
| 7634 | cartesian_trajectory_planner_B.idx++; |
| 7635 | } |
| 7636 | } |
| 7637 | |
| 7638 | cartesian_trajectory_planner_B.i_e = obj->ConstraintMatrix->size[0]; |
| 7639 | cartesian_trajectory_planner_B.b_i = A->size[0] * A->size[1]; |
| 7640 | A->size[0] = cartesian_trajectory_planner_B.i_e; |
| 7641 | A->size[1] = eb->size[0]; |
| 7642 | cartes_emxEnsureCapacity_real_T(A, |
| 7643 | cartesian_trajectory_planner_B.b_i); |
| 7644 | cartesian_trajectory_planner_B.n_f = eb->size[0]; |
| 7645 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7646 | cartesian_trajectory_planner_B.b_i < |
| 7647 | cartesian_trajectory_planner_B.n_f; |
| 7648 | cartesian_trajectory_planner_B.b_i++) { |
| 7649 | for (cartesian_trajectory_planner_B.idx = 0; |
| 7650 | cartesian_trajectory_planner_B.idx < |
| 7651 | cartesian_trajectory_planner_B.i_e; |
| 7652 | cartesian_trajectory_planner_B.idx++) { |
| 7653 | A->data[cartesian_trajectory_planner_B.idx + A->size[0] * |
| 7654 | cartesian_trajectory_planner_B.b_i] = obj-> |
| 7655 | ConstraintMatrix->data[(eb-> |
| 7656 | data[cartesian_trajectory_planner_B.b_i] - 1) * |
| 7657 | obj->ConstraintMatrix->size[0] + |
| 7658 | cartesian_trajectory_planner_B.idx]; |
| 7659 | } |
| 7660 | } |
| 7661 | |
| 7662 | cartesian_trajectory_planner_B.m_p = A->size[1] - 1; |
| 7663 | cartesian_trajectory_planner_B.inner = A->size[0] - 1; |
| 7664 | cartesian_trajectory_planner_B.n_f = A->size[1] - 1; |
| 7665 | cartesian_trajectory_planner_B.b_i = AIn->size[0] * AIn->size[1]; |
| 7666 | AIn->size[0] = A->size[1]; |
| 7667 | AIn->size[1] = A->size[1]; |
| 7668 | cartes_emxEnsureCapacity_real_T(AIn, |
| 7669 | cartesian_trajectory_planner_B.b_i); |
| 7670 | for (cartesian_trajectory_planner_B.idx = 0; |
| 7671 | cartesian_trajectory_planner_B.idx <= |
| 7672 | cartesian_trajectory_planner_B.n_f; |
| 7673 | cartesian_trajectory_planner_B.idx++) { |
| 7674 | cartesian_trajectory_planner_B.coffset = |
| 7675 | (cartesian_trajectory_planner_B.m_p + 1) * |
| 7676 | cartesian_trajectory_planner_B.idx - 1; |
| 7677 | cartesian_trajectory_planner_B.boffset = |
| 7678 | cartesian_trajectory_planner_B.idx * A->size[0] - 1; |
| 7679 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7680 | cartesian_trajectory_planner_B.b_i <= |
| 7681 | cartesian_trajectory_planner_B.m_p; |
| 7682 | cartesian_trajectory_planner_B.b_i++) { |
| 7683 | AIn->data[(cartesian_trajectory_planner_B.coffset + |
| 7684 | cartesian_trajectory_planner_B.b_i) + 1] = 0.0; |
| 7685 | } |
| 7686 | |
| 7687 | for (cartesian_trajectory_planner_B.nx_i = 0; |
| 7688 | cartesian_trajectory_planner_B.nx_i <= |
| 7689 | cartesian_trajectory_planner_B.inner; |
| 7690 | cartesian_trajectory_planner_B.nx_i++) { |
| 7691 | cartesian_trajectory_planner_B.s_j = A->data |
| 7692 | [(cartesian_trajectory_planner_B.boffset + |
| 7693 | cartesian_trajectory_planner_B.nx_i) + 1]; |
| 7694 | for (cartesian_trajectory_planner_B.j = 0; |
| 7695 | cartesian_trajectory_planner_B.j <= |
| 7696 | cartesian_trajectory_planner_B.m_p; |
| 7697 | cartesian_trajectory_planner_B.j++) { |
| 7698 | cartesian_trajectory_planner_B.b_i = |
| 7699 | (cartesian_trajectory_planner_B.coffset + |
| 7700 | cartesian_trajectory_planner_B.j) + 1; |
| 7701 | AIn->data[cartesian_trajectory_planner_B.b_i] += A-> |
| 7702 | data[cartesian_trajectory_planner_B.j * A->size[0] + |
| 7703 | cartesian_trajectory_planner_B.nx_i] * |
| 7704 | cartesian_trajectory_planner_B.s_j; |
| 7705 | } |
| 7706 | } |
| 7707 | } |
| 7708 | |
| 7709 | cartesian_trajectory_planner_B.b_i = A_3->size[0] * A_3->size[1]; |
| 7710 | A_3->size[0] = A->size[1]; |
| 7711 | A_3->size[1] = A->size[0]; |
| 7712 | cartes_emxEnsureCapacity_real_T(A_3, |
| 7713 | cartesian_trajectory_planner_B.b_i); |
| 7714 | cartesian_trajectory_planner_B.i_e = A->size[0]; |
| 7715 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7716 | cartesian_trajectory_planner_B.b_i < |
| 7717 | cartesian_trajectory_planner_B.i_e; |
| 7718 | cartesian_trajectory_planner_B.b_i++) { |
| 7719 | cartesian_trajectory_planner_B.n_f = A->size[1]; |
| 7720 | for (cartesian_trajectory_planner_B.idx = 0; |
| 7721 | cartesian_trajectory_planner_B.idx < |
| 7722 | cartesian_trajectory_planner_B.n_f; |
| 7723 | cartesian_trajectory_planner_B.idx++) { |
| 7724 | A_3->data[cartesian_trajectory_planner_B.idx + A_3->size[0] * |
| 7725 | cartesian_trajectory_planner_B.b_i] = A->data[A->size[0] * |
| 7726 | cartesian_trajectory_planner_B.idx + |
| 7727 | cartesian_trajectory_planner_B.b_i]; |
| 7728 | } |
| 7729 | } |
| 7730 | |
| 7731 | cartesian_trajectory_p_mldivide(AIn, A_3, a); |
| 7732 | cartesian_trajectory_planner_B.m_p = A->size[0] - 1; |
| 7733 | cartesian_trajectory_planner_B.inner = A->size[1] - 1; |
| 7734 | cartesian_trajectory_planner_B.n_f = a->size[1] - 1; |
| 7735 | cartesian_trajectory_planner_B.b_i = AIn->size[0] * AIn->size[1]; |
| 7736 | AIn->size[0] = A->size[0]; |
| 7737 | AIn->size[1] = a->size[1]; |
| 7738 | cartes_emxEnsureCapacity_real_T(AIn, |
| 7739 | cartesian_trajectory_planner_B.b_i); |
| 7740 | for (cartesian_trajectory_planner_B.idx = 0; |
| 7741 | cartesian_trajectory_planner_B.idx <= |
| 7742 | cartesian_trajectory_planner_B.n_f; |
| 7743 | cartesian_trajectory_planner_B.idx++) { |
| 7744 | cartesian_trajectory_planner_B.coffset = |
| 7745 | (cartesian_trajectory_planner_B.m_p + 1) * |
| 7746 | cartesian_trajectory_planner_B.idx - 1; |
| 7747 | cartesian_trajectory_planner_B.boffset = |
| 7748 | cartesian_trajectory_planner_B.idx * a->size[0] - 1; |
| 7749 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7750 | cartesian_trajectory_planner_B.b_i <= |
| 7751 | cartesian_trajectory_planner_B.m_p; |
| 7752 | cartesian_trajectory_planner_B.b_i++) { |
| 7753 | AIn->data[(cartesian_trajectory_planner_B.coffset + |
| 7754 | cartesian_trajectory_planner_B.b_i) + 1] = 0.0; |
| 7755 | } |
| 7756 | |
| 7757 | for (cartesian_trajectory_planner_B.nx_i = 0; |
| 7758 | cartesian_trajectory_planner_B.nx_i <= |
| 7759 | cartesian_trajectory_planner_B.inner; |
| 7760 | cartesian_trajectory_planner_B.nx_i++) { |
| 7761 | cartesian_trajectory_planner_B.aoffset = |
| 7762 | cartesian_trajectory_planner_B.nx_i * A->size[0] - 1; |
| 7763 | cartesian_trajectory_planner_B.s_j = a->data |
| 7764 | [(cartesian_trajectory_planner_B.boffset + |
| 7765 | cartesian_trajectory_planner_B.nx_i) + 1]; |
| 7766 | for (cartesian_trajectory_planner_B.j = 0; |
| 7767 | cartesian_trajectory_planner_B.j <= |
| 7768 | cartesian_trajectory_planner_B.m_p; |
| 7769 | cartesian_trajectory_planner_B.j++) { |
| 7770 | cartesian_trajectory_planner_B.i_e = |
| 7771 | cartesian_trajectory_planner_B.j + 1; |
| 7772 | cartesian_trajectory_planner_B.b_i = |
| 7773 | cartesian_trajectory_planner_B.coffset + |
| 7774 | cartesian_trajectory_planner_B.i_e; |
| 7775 | AIn->data[cartesian_trajectory_planner_B.b_i] += A-> |
| 7776 | data[cartesian_trajectory_planner_B.aoffset + |
| 7777 | cartesian_trajectory_planner_B.i_e] * |
| 7778 | cartesian_trajectory_planner_B.s_j; |
| 7779 | } |
| 7780 | } |
| 7781 | } |
| 7782 | |
| 7783 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7784 | cartesian_trajectory_planner_B.b_i < 36; |
| 7785 | cartesian_trajectory_planner_B.b_i++) { |
| 7786 | cartesian_trajectory_planner_B.P[cartesian_trajectory_planner_B.b_i] |
| 7787 | = |
| 7788 | cartesian_trajectory_planner_B.unusedU0[cartesian_trajectory_planner_B.b_i] |
| 7789 | - AIn->data[cartesian_trajectory_planner_B.b_i]; |
| 7790 | } |
| 7791 | |
| 7792 | cartesian_trajectory_planner_B.s_j = alpha-> |
| 7793 | data[cartesian_trajectory_planner_B.idxl]; |
| 7794 | cartesian_trajectory_planner_B.b_i = static_cast<int32_T> |
| 7795 | (cartesian_trajectory_planner_B.s_j); |
| 7796 | cartesian_trajectory_planner_B.i_e = obj->ConstraintMatrix->size[0]; |
| 7797 | cartesian_trajectory_planner_B.idx = alpha->size[0]; |
| 7798 | alpha->size[0] = cartesian_trajectory_planner_B.i_e; |
| 7799 | cartes_emxEnsureCapacity_real_T(alpha, |
| 7800 | cartesian_trajectory_planner_B.idx); |
| 7801 | for (cartesian_trajectory_planner_B.idx = 0; |
| 7802 | cartesian_trajectory_planner_B.idx < |
| 7803 | cartesian_trajectory_planner_B.i_e; |
| 7804 | cartesian_trajectory_planner_B.idx++) { |
| 7805 | alpha->data[cartesian_trajectory_planner_B.idx] = |
| 7806 | obj->ConstraintMatrix->data |
| 7807 | [(cartesian_trajectory_planner_B.b_i - 1) * |
| 7808 | obj->ConstraintMatrix->size[0] + |
| 7809 | cartesian_trajectory_planner_B.idx]; |
| 7810 | } |
| 7811 | |
| 7812 | cartesian_trajectory_planner_B.b_i = alpha_0->size[0] * |
| 7813 | alpha_0->size[1]; |
| 7814 | alpha_0->size[0] = 1; |
| 7815 | alpha_0->size[1] = alpha->size[0]; |
| 7816 | cartes_emxEnsureCapacity_real_T(alpha_0, |
| 7817 | cartesian_trajectory_planner_B.b_i); |
| 7818 | cartesian_trajectory_planner_B.i_e = alpha->size[0]; |
| 7819 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7820 | cartesian_trajectory_planner_B.b_i < |
| 7821 | cartesian_trajectory_planner_B.i_e; |
| 7822 | cartesian_trajectory_planner_B.b_i++) { |
| 7823 | alpha_0->data[cartesian_trajectory_planner_B.b_i] = alpha-> |
| 7824 | data[cartesian_trajectory_planner_B.b_i]; |
| 7825 | } |
| 7826 | |
| 7827 | cartesian_trajectory_planner_B.s_j = 0.0; |
| 7828 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7829 | cartesian_trajectory_planner_B.b_i < 6; |
| 7830 | cartesian_trajectory_planner_B.b_i++) { |
| 7831 | cartesian_trajectory_planner_B.Hg[cartesian_trajectory_planner_B.b_i] |
| 7832 | = 0.0; |
| 7833 | for (cartesian_trajectory_planner_B.idx = 0; |
| 7834 | cartesian_trajectory_planner_B.idx < 6; |
| 7835 | cartesian_trajectory_planner_B.idx++) { |
| 7836 | cartesian_trajectory_planner_B.b_gamma = |
| 7837 | cartesian_trajectory_planner_B.P[6 * |
| 7838 | cartesian_trajectory_planner_B.b_i + |
| 7839 | cartesian_trajectory_planner_B.idx] * alpha_0-> |
| 7840 | data[cartesian_trajectory_planner_B.idx] + |
| 7841 | cartesian_trajectory_planner_B.Hg[cartesian_trajectory_planner_B.b_i]; |
| 7842 | cartesian_trajectory_planner_B.Hg[cartesian_trajectory_planner_B.b_i] |
| 7843 | = cartesian_trajectory_planner_B.b_gamma; |
| 7844 | } |
| 7845 | |
| 7846 | cartesian_trajectory_planner_B.s_j += |
| 7847 | cartesian_trajectory_planner_B.Hg[cartesian_trajectory_planner_B.b_i] |
| 7848 | * alpha->data[cartesian_trajectory_planner_B.b_i]; |
| 7849 | } |
| 7850 | |
| 7851 | cartesian_trajectory_planner_B.s_j = 1.0 / |
| 7852 | cartesian_trajectory_planner_B.s_j; |
| 7853 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7854 | cartesian_trajectory_planner_B.b_i < 36; |
| 7855 | cartesian_trajectory_planner_B.b_i++) { |
| 7856 | cartesian_trajectory_planner_B.V[cartesian_trajectory_planner_B.b_i] |
| 7857 | = cartesian_trajectory_planner_B.s_j * |
| 7858 | cartesian_trajectory_planner_B.P[cartesian_trajectory_planner_B.b_i]; |
| 7859 | } |
| 7860 | |
| 7861 | cartesian_trajectory_planner_B.b_i = AIn->size[0] * AIn->size[1]; |
| 7862 | AIn->size[0] = alpha->size[0]; |
| 7863 | AIn->size[1] = alpha->size[0]; |
| 7864 | cartes_emxEnsureCapacity_real_T(AIn, |
| 7865 | cartesian_trajectory_planner_B.b_i); |
| 7866 | cartesian_trajectory_planner_B.i_e = alpha->size[0]; |
| 7867 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7868 | cartesian_trajectory_planner_B.b_i < |
| 7869 | cartesian_trajectory_planner_B.i_e; |
| 7870 | cartesian_trajectory_planner_B.b_i++) { |
| 7871 | cartesian_trajectory_planner_B.n_f = alpha->size[0]; |
| 7872 | for (cartesian_trajectory_planner_B.idx = 0; |
| 7873 | cartesian_trajectory_planner_B.idx < |
| 7874 | cartesian_trajectory_planner_B.n_f; |
| 7875 | cartesian_trajectory_planner_B.idx++) { |
| 7876 | AIn->data[cartesian_trajectory_planner_B.idx + AIn->size[0] * |
| 7877 | cartesian_trajectory_planner_B.b_i] = alpha-> |
| 7878 | data[cartesian_trajectory_planner_B.idx] * alpha-> |
| 7879 | data[cartesian_trajectory_planner_B.b_i]; |
| 7880 | } |
| 7881 | } |
| 7882 | |
| 7883 | cartesian_trajectory_planner_B.n_f = AIn->size[1] - 1; |
| 7884 | cartesian_trajectory_planner_B.b_i = unusedU1->size[0] * |
| 7885 | unusedU1->size[1]; |
| 7886 | unusedU1->size[0] = 6; |
| 7887 | unusedU1->size[1] = AIn->size[1]; |
| 7888 | cartes_emxEnsureCapacity_real_T(unusedU1, |
| 7889 | cartesian_trajectory_planner_B.b_i); |
| 7890 | for (cartesian_trajectory_planner_B.idx = 0; |
| 7891 | cartesian_trajectory_planner_B.idx <= |
| 7892 | cartesian_trajectory_planner_B.n_f; |
| 7893 | cartesian_trajectory_planner_B.idx++) { |
| 7894 | cartesian_trajectory_planner_B.coffset = |
| 7895 | cartesian_trajectory_planner_B.idx * 6 - 1; |
| 7896 | cartesian_trajectory_planner_B.boffset = |
| 7897 | cartesian_trajectory_planner_B.idx * AIn->size[0] - 1; |
| 7898 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7899 | cartesian_trajectory_planner_B.b_i < 6; |
| 7900 | cartesian_trajectory_planner_B.b_i++) { |
| 7901 | cartesian_trajectory_planner_B.s_j = 0.0; |
| 7902 | for (cartesian_trajectory_planner_B.nx_i = 0; |
| 7903 | cartesian_trajectory_planner_B.nx_i < 6; |
| 7904 | cartesian_trajectory_planner_B.nx_i++) { |
| 7905 | cartesian_trajectory_planner_B.s_j += |
| 7906 | cartesian_trajectory_planner_B.V[cartesian_trajectory_planner_B.nx_i |
| 7907 | * 6 + cartesian_trajectory_planner_B.b_i] * AIn->data |
| 7908 | [(cartesian_trajectory_planner_B.boffset + |
| 7909 | cartesian_trajectory_planner_B.nx_i) + 1]; |
| 7910 | } |
| 7911 | |
| 7912 | unusedU1->data[(cartesian_trajectory_planner_B.coffset + |
| 7913 | cartesian_trajectory_planner_B.b_i) + 1] = |
| 7914 | cartesian_trajectory_planner_B.s_j; |
| 7915 | } |
| 7916 | } |
| 7917 | |
| 7918 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7919 | cartesian_trajectory_planner_B.b_i < 6; |
| 7920 | cartesian_trajectory_planner_B.b_i++) { |
| 7921 | for (cartesian_trajectory_planner_B.idx = 0; |
| 7922 | cartesian_trajectory_planner_B.idx < 6; |
| 7923 | cartesian_trajectory_planner_B.idx++) { |
| 7924 | cartesian_trajectory_planner_B.s_j = 0.0; |
| 7925 | for (cartesian_trajectory_planner_B.i_e = 0; |
| 7926 | cartesian_trajectory_planner_B.i_e < 6; |
| 7927 | cartesian_trajectory_planner_B.i_e++) { |
| 7928 | cartesian_trajectory_planner_B.s_j += unusedU1->data[6 * |
| 7929 | cartesian_trajectory_planner_B.i_e + |
| 7930 | cartesian_trajectory_planner_B.b_i] * |
| 7931 | cartesian_trajectory_planner_B.P[6 * |
| 7932 | cartesian_trajectory_planner_B.idx + |
| 7933 | cartesian_trajectory_planner_B.i_e]; |
| 7934 | } |
| 7935 | |
| 7936 | cartesian_trajectory_planner_B.idxl = 6 * |
| 7937 | cartesian_trajectory_planner_B.idx + |
| 7938 | cartesian_trajectory_planner_B.b_i; |
| 7939 | cartesian_trajectory_planner_B.H[cartesian_trajectory_planner_B.idxl] |
| 7940 | += cartesian_trajectory_planner_B.s_j; |
| 7941 | } |
| 7942 | } |
| 7943 | |
| 7944 | cartesian_trajectory_planner_B.g_idx_0++; |
| 7945 | } else { |
| 7946 | guard2 = true; |
| 7947 | } |
| 7948 | } else { |
| 7949 | guard2 = true; |
| 7950 | } |
| 7951 | |
| 7952 | if (guard2) { |
| 7953 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7954 | cartesian_trajectory_planner_B.b_i < 6; |
| 7955 | cartesian_trajectory_planner_B.b_i++) { |
| 7956 | cartesian_trajectory_planner_B.Hg[cartesian_trajectory_planner_B.b_i] |
| 7957 | = |
| 7958 | -cartesian_trajectory_planner_B.Hg[cartesian_trajectory_planner_B.b_i]; |
| 7959 | } |
| 7960 | |
| 7961 | cartesian_trajectory_planner_B.idxl = -1; |
| 7962 | if (obj->ConstraintsOn) { |
| 7963 | cartesian_trajectory_planner_B.b_i = x->size[0]; |
| 7964 | x->size[0] = activeSet->size[0]; |
| 7965 | car_emxEnsureCapacity_boolean_T(x, |
| 7966 | cartesian_trajectory_planner_B.b_i); |
| 7967 | cartesian_trajectory_planner_B.i_e = activeSet->size[0]; |
| 7968 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7969 | cartesian_trajectory_planner_B.b_i < |
| 7970 | cartesian_trajectory_planner_B.i_e; |
| 7971 | cartesian_trajectory_planner_B.b_i++) { |
| 7972 | x->data[cartesian_trajectory_planner_B.b_i] = !activeSet-> |
| 7973 | data[cartesian_trajectory_planner_B.b_i]; |
| 7974 | } |
| 7975 | |
| 7976 | if (cartesian_trajectory_planne_any(x)) { |
| 7977 | cartesian_trajectory_planner_B.nx_i = activeSet->size[0] - 1; |
| 7978 | cartesian_trajectory_planner_B.idx = 0; |
| 7979 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7980 | cartesian_trajectory_planner_B.b_i <= |
| 7981 | cartesian_trajectory_planner_B.nx_i; |
| 7982 | cartesian_trajectory_planner_B.b_i++) { |
| 7983 | if (!activeSet->data[cartesian_trajectory_planner_B.b_i]) { |
| 7984 | cartesian_trajectory_planner_B.idx++; |
| 7985 | } |
| 7986 | } |
| 7987 | |
| 7988 | cartesian_trajectory_planner_B.b_i = cb->size[0]; |
| 7989 | cb->size[0] = cartesian_trajectory_planner_B.idx; |
| 7990 | carte_emxEnsureCapacity_int32_T(cb, |
| 7991 | cartesian_trajectory_planner_B.b_i); |
| 7992 | cartesian_trajectory_planner_B.idx = 0; |
| 7993 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 7994 | cartesian_trajectory_planner_B.b_i <= |
| 7995 | cartesian_trajectory_planner_B.nx_i; |
| 7996 | cartesian_trajectory_planner_B.b_i++) { |
| 7997 | if (!activeSet->data[cartesian_trajectory_planner_B.b_i]) { |
| 7998 | cb->data[cartesian_trajectory_planner_B.idx] = |
| 7999 | cartesian_trajectory_planner_B.b_i + 1; |
| 8000 | cartesian_trajectory_planner_B.idx++; |
| 8001 | } |
| 8002 | } |
| 8003 | |
| 8004 | cartesian_trajectory_planner_B.b_i = alpha->size[0]; |
| 8005 | alpha->size[0] = cb->size[0]; |
| 8006 | cartes_emxEnsureCapacity_real_T(alpha, |
| 8007 | cartesian_trajectory_planner_B.b_i); |
| 8008 | cartesian_trajectory_planner_B.i_e = cb->size[0]; |
| 8009 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8010 | cartesian_trajectory_planner_B.b_i < |
| 8011 | cartesian_trajectory_planner_B.i_e; |
| 8012 | cartesian_trajectory_planner_B.b_i++) { |
| 8013 | alpha->data[cartesian_trajectory_planner_B.b_i] = |
| 8014 | obj->ConstraintBound->data[cb-> |
| 8015 | data[cartesian_trajectory_planner_B.b_i] - 1]; |
| 8016 | } |
| 8017 | |
| 8018 | cartesian_trajectory_planner_B.nx_i = activeSet->size[0] - 1; |
| 8019 | cartesian_trajectory_planner_B.idx = 0; |
| 8020 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8021 | cartesian_trajectory_planner_B.b_i <= |
| 8022 | cartesian_trajectory_planner_B.nx_i; |
| 8023 | cartesian_trajectory_planner_B.b_i++) { |
| 8024 | if (!activeSet->data[cartesian_trajectory_planner_B.b_i]) { |
| 8025 | cartesian_trajectory_planner_B.idx++; |
| 8026 | } |
| 8027 | } |
| 8028 | |
| 8029 | cartesian_trajectory_planner_B.b_i = db->size[0]; |
| 8030 | db->size[0] = cartesian_trajectory_planner_B.idx; |
| 8031 | carte_emxEnsureCapacity_int32_T(db, |
| 8032 | cartesian_trajectory_planner_B.b_i); |
| 8033 | cartesian_trajectory_planner_B.idx = 0; |
| 8034 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8035 | cartesian_trajectory_planner_B.b_i <= |
| 8036 | cartesian_trajectory_planner_B.nx_i; |
| 8037 | cartesian_trajectory_planner_B.b_i++) { |
| 8038 | if (!activeSet->data[cartesian_trajectory_planner_B.b_i]) { |
| 8039 | db->data[cartesian_trajectory_planner_B.idx] = |
| 8040 | cartesian_trajectory_planner_B.b_i + 1; |
| 8041 | cartesian_trajectory_planner_B.idx++; |
| 8042 | } |
| 8043 | } |
| 8044 | |
| 8045 | cartesian_trajectory_planner_B.i_e = obj->ConstraintMatrix-> |
| 8046 | size[0]; |
| 8047 | cartesian_trajectory_planner_B.b_i = AIn->size[0] * AIn->size[1]; |
| 8048 | AIn->size[0] = cartesian_trajectory_planner_B.i_e; |
| 8049 | AIn->size[1] = db->size[0]; |
| 8050 | cartes_emxEnsureCapacity_real_T(AIn, |
| 8051 | cartesian_trajectory_planner_B.b_i); |
| 8052 | cartesian_trajectory_planner_B.n_f = db->size[0]; |
| 8053 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8054 | cartesian_trajectory_planner_B.b_i < |
| 8055 | cartesian_trajectory_planner_B.n_f; |
| 8056 | cartesian_trajectory_planner_B.b_i++) { |
| 8057 | for (cartesian_trajectory_planner_B.idx = 0; |
| 8058 | cartesian_trajectory_planner_B.idx < |
| 8059 | cartesian_trajectory_planner_B.i_e; |
| 8060 | cartesian_trajectory_planner_B.idx++) { |
| 8061 | AIn->data[cartesian_trajectory_planner_B.idx + AIn->size[0] * |
| 8062 | cartesian_trajectory_planner_B.b_i] = |
| 8063 | obj->ConstraintMatrix->data[(db-> |
| 8064 | data[cartesian_trajectory_planner_B.b_i] - 1) * |
| 8065 | obj->ConstraintMatrix->size[0] + |
| 8066 | cartesian_trajectory_planner_B.idx]; |
| 8067 | } |
| 8068 | } |
| 8069 | |
| 8070 | cartesian_trajectory_planner_B.nx_i = x->size[0]; |
| 8071 | cartesian_trajectory_planner_B.idx = 0; |
| 8072 | cartesian_trajectory_planner_B.b_i = ii->size[0]; |
| 8073 | ii->size[0] = x->size[0]; |
| 8074 | carte_emxEnsureCapacity_int32_T(ii, |
| 8075 | cartesian_trajectory_planner_B.b_i); |
| 8076 | cartesian_trajectory_planner_B.b_i = 1; |
| 8077 | exitg3 = false; |
| 8078 | while ((!exitg3) && (cartesian_trajectory_planner_B.b_i - 1 <= |
| 8079 | cartesian_trajectory_planner_B.nx_i - 1)) { |
| 8080 | if (x->data[cartesian_trajectory_planner_B.b_i - 1]) { |
| 8081 | cartesian_trajectory_planner_B.idx++; |
| 8082 | ii->data[cartesian_trajectory_planner_B.idx - 1] = |
| 8083 | cartesian_trajectory_planner_B.b_i; |
| 8084 | if (cartesian_trajectory_planner_B.idx >= |
| 8085 | cartesian_trajectory_planner_B.nx_i) { |
| 8086 | exitg3 = true; |
| 8087 | } else { |
| 8088 | cartesian_trajectory_planner_B.b_i++; |
| 8089 | } |
| 8090 | } else { |
| 8091 | cartesian_trajectory_planner_B.b_i++; |
| 8092 | } |
| 8093 | } |
| 8094 | |
| 8095 | if (x->size[0] == 1) { |
| 8096 | if (cartesian_trajectory_planner_B.idx == 0) { |
| 8097 | ii->size[0] = 0; |
| 8098 | } |
| 8099 | } else { |
| 8100 | if (1 > cartesian_trajectory_planner_B.idx) { |
| 8101 | cartesian_trajectory_planner_B.idx = 0; |
| 8102 | } |
| 8103 | |
| 8104 | cartesian_trajectory_planner_B.b_i = ii_2->size[0]; |
| 8105 | ii_2->size[0] = cartesian_trajectory_planner_B.idx; |
| 8106 | carte_emxEnsureCapacity_int32_T(ii_2, |
| 8107 | cartesian_trajectory_planner_B.b_i); |
| 8108 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8109 | cartesian_trajectory_planner_B.b_i < |
| 8110 | cartesian_trajectory_planner_B.idx; |
| 8111 | cartesian_trajectory_planner_B.b_i++) { |
| 8112 | ii_2->data[cartesian_trajectory_planner_B.b_i] = ii-> |
| 8113 | data[cartesian_trajectory_planner_B.b_i]; |
| 8114 | } |
| 8115 | |
| 8116 | cartesian_trajectory_planner_B.b_i = ii->size[0]; |
| 8117 | ii->size[0] = ii_2->size[0]; |
| 8118 | carte_emxEnsureCapacity_int32_T(ii, |
| 8119 | cartesian_trajectory_planner_B.b_i); |
| 8120 | cartesian_trajectory_planner_B.i_e = ii_2->size[0]; |
| 8121 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8122 | cartesian_trajectory_planner_B.b_i < |
| 8123 | cartesian_trajectory_planner_B.i_e; |
| 8124 | cartesian_trajectory_planner_B.b_i++) { |
| 8125 | ii->data[cartesian_trajectory_planner_B.b_i] = ii_2-> |
| 8126 | data[cartesian_trajectory_planner_B.b_i]; |
| 8127 | } |
| 8128 | } |
| 8129 | |
| 8130 | cartesian_trajectory_planner_B.m_p = AIn->size[1] - 1; |
| 8131 | cartesian_trajectory_planner_B.inner = AIn->size[0] - 1; |
| 8132 | cartesian_trajectory_planner_B.b_i = L->size[0]; |
| 8133 | L->size[0] = AIn->size[1]; |
| 8134 | cartes_emxEnsureCapacity_real_T(L, |
| 8135 | cartesian_trajectory_planner_B.b_i); |
| 8136 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8137 | cartesian_trajectory_planner_B.b_i <= |
| 8138 | cartesian_trajectory_planner_B.m_p; |
| 8139 | cartesian_trajectory_planner_B.b_i++) { |
| 8140 | L->data[cartesian_trajectory_planner_B.b_i] = 0.0; |
| 8141 | } |
| 8142 | |
| 8143 | for (cartesian_trajectory_planner_B.nx_i = 0; |
| 8144 | cartesian_trajectory_planner_B.nx_i <= |
| 8145 | cartesian_trajectory_planner_B.inner; |
| 8146 | cartesian_trajectory_planner_B.nx_i++) { |
| 8147 | for (cartesian_trajectory_planner_B.j = 0; |
| 8148 | cartesian_trajectory_planner_B.j <= |
| 8149 | cartesian_trajectory_planner_B.m_p; |
| 8150 | cartesian_trajectory_planner_B.j++) { |
| 8151 | L->data[cartesian_trajectory_planner_B.j] += AIn-> |
| 8152 | data[cartesian_trajectory_planner_B.j * AIn->size[0] + |
| 8153 | cartesian_trajectory_planner_B.nx_i] * |
| 8154 | cartesian_trajectory_planner_B.x[cartesian_trajectory_planner_B.nx_i]; |
| 8155 | } |
| 8156 | } |
| 8157 | |
| 8158 | cartesian_trajectory_planner_B.m_p = AIn->size[1] - 1; |
| 8159 | cartesian_trajectory_planner_B.inner = AIn->size[0] - 1; |
| 8160 | cartesian_trajectory_planner_B.b_i = y->size[0]; |
| 8161 | y->size[0] = AIn->size[1]; |
| 8162 | cartes_emxEnsureCapacity_real_T(y, |
| 8163 | cartesian_trajectory_planner_B.b_i); |
| 8164 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8165 | cartesian_trajectory_planner_B.b_i <= |
| 8166 | cartesian_trajectory_planner_B.m_p; |
| 8167 | cartesian_trajectory_planner_B.b_i++) { |
| 8168 | y->data[cartesian_trajectory_planner_B.b_i] = 0.0; |
| 8169 | } |
| 8170 | |
| 8171 | for (cartesian_trajectory_planner_B.nx_i = 0; |
| 8172 | cartesian_trajectory_planner_B.nx_i <= |
| 8173 | cartesian_trajectory_planner_B.inner; |
| 8174 | cartesian_trajectory_planner_B.nx_i++) { |
| 8175 | for (cartesian_trajectory_planner_B.j = 0; |
| 8176 | cartesian_trajectory_planner_B.j <= |
| 8177 | cartesian_trajectory_planner_B.m_p; |
| 8178 | cartesian_trajectory_planner_B.j++) { |
| 8179 | y->data[cartesian_trajectory_planner_B.j] += AIn-> |
| 8180 | data[cartesian_trajectory_planner_B.j * AIn->size[0] + |
| 8181 | cartesian_trajectory_planner_B.nx_i] * |
| 8182 | cartesian_trajectory_planner_B.Hg[cartesian_trajectory_planner_B.nx_i]; |
| 8183 | } |
| 8184 | } |
| 8185 | |
| 8186 | cartesian_trajectory_planner_B.b_i = alpha->size[0]; |
| 8187 | cartes_emxEnsureCapacity_real_T(alpha, |
| 8188 | cartesian_trajectory_planner_B.b_i); |
| 8189 | cartesian_trajectory_planner_B.i_e = alpha->size[0]; |
| 8190 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8191 | cartesian_trajectory_planner_B.b_i < |
| 8192 | cartesian_trajectory_planner_B.i_e; |
| 8193 | cartesian_trajectory_planner_B.b_i++) { |
| 8194 | alpha->data[cartesian_trajectory_planner_B.b_i] = (alpha-> |
| 8195 | data[cartesian_trajectory_planner_B.b_i] - L-> |
| 8196 | data[cartesian_trajectory_planner_B.b_i]) / y-> |
| 8197 | data[cartesian_trajectory_planner_B.b_i]; |
| 8198 | } |
| 8199 | |
| 8200 | cartesian_trajectory_planner_B.b_i = x->size[0]; |
| 8201 | x->size[0] = alpha->size[0]; |
| 8202 | car_emxEnsureCapacity_boolean_T(x, |
| 8203 | cartesian_trajectory_planner_B.b_i); |
| 8204 | cartesian_trajectory_planner_B.i_e = alpha->size[0]; |
| 8205 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8206 | cartesian_trajectory_planner_B.b_i < |
| 8207 | cartesian_trajectory_planner_B.i_e; |
| 8208 | cartesian_trajectory_planner_B.b_i++) { |
| 8209 | x->data[cartesian_trajectory_planner_B.b_i] = (alpha-> |
| 8210 | data[cartesian_trajectory_planner_B.b_i] > 0.0); |
| 8211 | } |
| 8212 | |
| 8213 | cartesian_trajectory_planner_B.nx_i = x->size[0]; |
| 8214 | cartesian_trajectory_planner_B.idx = 0; |
| 8215 | cartesian_trajectory_planner_B.b_i = ii_0->size[0]; |
| 8216 | ii_0->size[0] = x->size[0]; |
| 8217 | carte_emxEnsureCapacity_int32_T(ii_0, |
| 8218 | cartesian_trajectory_planner_B.b_i); |
| 8219 | cartesian_trajectory_planner_B.b_i = 1; |
| 8220 | exitg3 = false; |
| 8221 | while ((!exitg3) && (cartesian_trajectory_planner_B.b_i - 1 <= |
| 8222 | cartesian_trajectory_planner_B.nx_i - 1)) { |
| 8223 | if (x->data[cartesian_trajectory_planner_B.b_i - 1]) { |
| 8224 | cartesian_trajectory_planner_B.idx++; |
| 8225 | ii_0->data[cartesian_trajectory_planner_B.idx - 1] = |
| 8226 | cartesian_trajectory_planner_B.b_i; |
| 8227 | if (cartesian_trajectory_planner_B.idx >= |
| 8228 | cartesian_trajectory_planner_B.nx_i) { |
| 8229 | exitg3 = true; |
| 8230 | } else { |
| 8231 | cartesian_trajectory_planner_B.b_i++; |
| 8232 | } |
| 8233 | } else { |
| 8234 | cartesian_trajectory_planner_B.b_i++; |
| 8235 | } |
| 8236 | } |
| 8237 | |
| 8238 | if (x->size[0] == 1) { |
| 8239 | if (cartesian_trajectory_planner_B.idx == 0) { |
| 8240 | ii_0->size[0] = 0; |
| 8241 | } |
| 8242 | } else { |
| 8243 | if (1 > cartesian_trajectory_planner_B.idx) { |
| 8244 | cartesian_trajectory_planner_B.idx = 0; |
| 8245 | } |
| 8246 | |
| 8247 | cartesian_trajectory_planner_B.b_i = ii_3->size[0]; |
| 8248 | ii_3->size[0] = cartesian_trajectory_planner_B.idx; |
| 8249 | carte_emxEnsureCapacity_int32_T(ii_3, |
| 8250 | cartesian_trajectory_planner_B.b_i); |
| 8251 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8252 | cartesian_trajectory_planner_B.b_i < |
| 8253 | cartesian_trajectory_planner_B.idx; |
| 8254 | cartesian_trajectory_planner_B.b_i++) { |
| 8255 | ii_3->data[cartesian_trajectory_planner_B.b_i] = ii_0-> |
| 8256 | data[cartesian_trajectory_planner_B.b_i]; |
| 8257 | } |
| 8258 | |
| 8259 | cartesian_trajectory_planner_B.b_i = ii_0->size[0]; |
| 8260 | ii_0->size[0] = ii_3->size[0]; |
| 8261 | carte_emxEnsureCapacity_int32_T(ii_0, |
| 8262 | cartesian_trajectory_planner_B.b_i); |
| 8263 | cartesian_trajectory_planner_B.i_e = ii_3->size[0]; |
| 8264 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8265 | cartesian_trajectory_planner_B.b_i < |
| 8266 | cartesian_trajectory_planner_B.i_e; |
| 8267 | cartesian_trajectory_planner_B.b_i++) { |
| 8268 | ii_0->data[cartesian_trajectory_planner_B.b_i] = ii_3-> |
| 8269 | data[cartesian_trajectory_planner_B.b_i]; |
| 8270 | } |
| 8271 | } |
| 8272 | |
| 8273 | cartesian_trajectory_planner_B.b_i = L->size[0]; |
| 8274 | L->size[0] = ii_0->size[0]; |
| 8275 | cartes_emxEnsureCapacity_real_T(L, |
| 8276 | cartesian_trajectory_planner_B.b_i); |
| 8277 | cartesian_trajectory_planner_B.i_e = ii_0->size[0]; |
| 8278 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8279 | cartesian_trajectory_planner_B.b_i < |
| 8280 | cartesian_trajectory_planner_B.i_e; |
| 8281 | cartesian_trajectory_planner_B.b_i++) { |
| 8282 | L->data[cartesian_trajectory_planner_B.b_i] = ii_0-> |
| 8283 | data[cartesian_trajectory_planner_B.b_i]; |
| 8284 | } |
| 8285 | |
| 8286 | if (L->size[0] != 0) { |
| 8287 | cartesian_trajectory_planner_B.nx_i = alpha->size[0] - 1; |
| 8288 | cartesian_trajectory_planner_B.idx = 0; |
| 8289 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8290 | cartesian_trajectory_planner_B.b_i <= |
| 8291 | cartesian_trajectory_planner_B.nx_i; |
| 8292 | cartesian_trajectory_planner_B.b_i++) { |
| 8293 | if (alpha->data[cartesian_trajectory_planner_B.b_i] > 0.0) { |
| 8294 | cartesian_trajectory_planner_B.idx++; |
| 8295 | } |
| 8296 | } |
| 8297 | |
| 8298 | cartesian_trajectory_planner_B.b_i = fb->size[0]; |
| 8299 | fb->size[0] = cartesian_trajectory_planner_B.idx; |
| 8300 | carte_emxEnsureCapacity_int32_T(fb, |
| 8301 | cartesian_trajectory_planner_B.b_i); |
| 8302 | cartesian_trajectory_planner_B.idx = 0; |
| 8303 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8304 | cartesian_trajectory_planner_B.b_i <= |
| 8305 | cartesian_trajectory_planner_B.nx_i; |
| 8306 | cartesian_trajectory_planner_B.b_i++) { |
| 8307 | if (alpha->data[cartesian_trajectory_planner_B.b_i] > 0.0) { |
| 8308 | fb->data[cartesian_trajectory_planner_B.idx] = |
| 8309 | cartesian_trajectory_planner_B.b_i + 1; |
| 8310 | cartesian_trajectory_planner_B.idx++; |
| 8311 | } |
| 8312 | } |
| 8313 | |
| 8314 | cartesian_trajectory_planner_B.n_f = fb->size[0]; |
| 8315 | if (fb->size[0] <= 2) { |
| 8316 | if (fb->size[0] == 1) { |
| 8317 | cartesian_trajectory_planner_B.s_j = alpha->data[fb->data |
| 8318 | [0] - 1]; |
| 8319 | cartesian_trajectory_planner_B.idxl = 0; |
| 8320 | } else if ((alpha->data[fb->data[0] - 1] > alpha->data |
| 8321 | [fb->data[1] - 1]) || (rtIsNaN(alpha->data |
| 8322 | [fb->data[0] - 1]) && (!rtIsNaN(alpha->data |
| 8323 | [fb->data[1] - 1])))) { |
| 8324 | cartesian_trajectory_planner_B.s_j = alpha->data[fb->data |
| 8325 | [1] - 1]; |
| 8326 | cartesian_trajectory_planner_B.idxl = 1; |
| 8327 | } else { |
| 8328 | cartesian_trajectory_planner_B.s_j = alpha->data[fb->data |
| 8329 | [0] - 1]; |
| 8330 | cartesian_trajectory_planner_B.idxl = 0; |
| 8331 | } |
| 8332 | } else { |
| 8333 | if (!rtIsNaN(alpha->data[fb->data[0] - 1])) { |
| 8334 | cartesian_trajectory_planner_B.idxl = 1; |
| 8335 | } else { |
| 8336 | cartesian_trajectory_planner_B.idxl = 0; |
| 8337 | cartesian_trajectory_planner_B.b_i = 2; |
| 8338 | exitg3 = false; |
| 8339 | while ((!exitg3) && (cartesian_trajectory_planner_B.b_i <= |
| 8340 | fb->size[0])) { |
| 8341 | if (!rtIsNaN(alpha->data[fb-> |
| 8342 | data[cartesian_trajectory_planner_B.b_i - 1] |
| 8343 | - 1])) { |
| 8344 | cartesian_trajectory_planner_B.idxl = |
| 8345 | cartesian_trajectory_planner_B.b_i; |
| 8346 | exitg3 = true; |
| 8347 | } else { |
| 8348 | cartesian_trajectory_planner_B.b_i++; |
| 8349 | } |
| 8350 | } |
| 8351 | } |
| 8352 | |
| 8353 | if (cartesian_trajectory_planner_B.idxl == 0) { |
| 8354 | cartesian_trajectory_planner_B.s_j = alpha->data[fb->data |
| 8355 | [0] - 1]; |
| 8356 | } else { |
| 8357 | cartesian_trajectory_planner_B.s_j = alpha->data[fb-> |
| 8358 | data[cartesian_trajectory_planner_B.idxl - 1] - 1]; |
| 8359 | cartesian_trajectory_planner_B.nx_i = |
| 8360 | cartesian_trajectory_planner_B.idxl; |
| 8361 | for (cartesian_trajectory_planner_B.b_i = |
| 8362 | cartesian_trajectory_planner_B.idxl + 1; |
| 8363 | cartesian_trajectory_planner_B.b_i <= |
| 8364 | cartesian_trajectory_planner_B.n_f; |
| 8365 | cartesian_trajectory_planner_B.b_i++) { |
| 8366 | if (cartesian_trajectory_planner_B.s_j > alpha->data |
| 8367 | [fb->data[cartesian_trajectory_planner_B.b_i - 1] - |
| 8368 | 1]) { |
| 8369 | cartesian_trajectory_planner_B.s_j = alpha->data |
| 8370 | [fb->data[cartesian_trajectory_planner_B.b_i - 1] - |
| 8371 | 1]; |
| 8372 | cartesian_trajectory_planner_B.nx_i = |
| 8373 | cartesian_trajectory_planner_B.b_i; |
| 8374 | } |
| 8375 | } |
| 8376 | |
| 8377 | cartesian_trajectory_planner_B.idxl = |
| 8378 | cartesian_trajectory_planner_B.nx_i - 1; |
| 8379 | } |
| 8380 | } |
| 8381 | |
| 8382 | cartesian_trajectory_planner_B.idxl = ii->data |
| 8383 | [static_cast<int32_T>(L-> |
| 8384 | data[cartesian_trajectory_planner_B.idxl]) - 1]; |
| 8385 | } else { |
| 8386 | cartesian_trajectory_planner_B.s_j = 0.0; |
| 8387 | } |
| 8388 | } else { |
| 8389 | cartesian_trajectory_planner_B.s_j = 0.0; |
| 8390 | } |
| 8391 | } else { |
| 8392 | cartesian_trajectory_planner_B.s_j = 0.0; |
| 8393 | } |
| 8394 | |
| 8395 | if (cartesian_trajectory_planner_B.s_j > 0.0) { |
| 8396 | if (1.0 < cartesian_trajectory_planner_B.s_j) { |
| 8397 | cartesian_trajectory_planner_B.b_gamma = 1.0; |
| 8398 | } else { |
| 8399 | cartesian_trajectory_planner_B.b_gamma = |
| 8400 | cartesian_trajectory_planner_B.s_j; |
| 8401 | } |
| 8402 | } else { |
| 8403 | cartesian_trajectory_planner_B.b_gamma = 1.0; |
| 8404 | } |
| 8405 | |
| 8406 | cartesian_trajectory_planner_B.beta = obj->ArmijoRuleBeta; |
| 8407 | cartesian_trajectory_planner_B.sigma = obj->ArmijoRuleSigma; |
| 8408 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8409 | cartesian_trajectory_planner_B.b_i < 6; |
| 8410 | cartesian_trajectory_planner_B.b_i++) { |
| 8411 | cartesian_trajectory_planner_B.sNew_g[cartesian_trajectory_planner_B.b_i] |
| 8412 | = cartesian_trajectory_planner_B.b_gamma * |
| 8413 | cartesian_trajectory_planner_B.Hg[cartesian_trajectory_planner_B.b_i] |
| 8414 | + cartesian_trajectory_planner_B.x[cartesian_trajectory_planner_B.b_i]; |
| 8415 | } |
| 8416 | |
| 8417 | cartesian_IKHelpers_computeCost |
| 8418 | (cartesian_trajectory_planner_B.sNew_g, obj->ExtraArgs, |
| 8419 | &cartesian_trajectory_planner_B.costNew, |
| 8420 | cartesian_trajectory_planner_B.V, unusedU1, &c); |
| 8421 | obj->ExtraArgs = c; |
| 8422 | cartesian_trajectory_planner_B.m = 0.0; |
| 8423 | do { |
| 8424 | exitg1 = 0; |
| 8425 | for (cartesian_trajectory_planner_B.i_e = 0; |
| 8426 | cartesian_trajectory_planner_B.i_e < 6; |
| 8427 | cartesian_trajectory_planner_B.i_e++) { |
| 8428 | xSol[cartesian_trajectory_planner_B.i_e] = |
| 8429 | cartesian_trajectory_planner_B.b_gamma * |
| 8430 | cartesian_trajectory_planner_B.Hg[cartesian_trajectory_planner_B.i_e]; |
| 8431 | } |
| 8432 | |
| 8433 | cartesian_trajectory_planner_B.b_i = sigma->size[0] * sigma->size |
| 8434 | [1]; |
| 8435 | sigma->size[0] = 1; |
| 8436 | sigma->size[1] = grad->size[0]; |
| 8437 | cartes_emxEnsureCapacity_real_T(sigma, |
| 8438 | cartesian_trajectory_planner_B.b_i); |
| 8439 | cartesian_trajectory_planner_B.i_e = grad->size[0]; |
| 8440 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8441 | cartesian_trajectory_planner_B.b_i < |
| 8442 | cartesian_trajectory_planner_B.i_e; |
| 8443 | cartesian_trajectory_planner_B.b_i++) { |
| 8444 | sigma->data[cartesian_trajectory_planner_B.b_i] = |
| 8445 | -cartesian_trajectory_planner_B.sigma * grad-> |
| 8446 | data[cartesian_trajectory_planner_B.b_i]; |
| 8447 | } |
| 8448 | |
| 8449 | cartesian_trajectory_planner_B.sigma_h = 0.0; |
| 8450 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8451 | cartesian_trajectory_planner_B.b_i < 6; |
| 8452 | cartesian_trajectory_planner_B.b_i++) { |
| 8453 | cartesian_trajectory_planner_B.sigma_h += sigma-> |
| 8454 | data[cartesian_trajectory_planner_B.b_i] * |
| 8455 | xSol[cartesian_trajectory_planner_B.b_i]; |
| 8456 | } |
| 8457 | |
| 8458 | if (cartesian_trajectory_planner_B.cost - |
| 8459 | cartesian_trajectory_planner_B.costNew < |
| 8460 | cartesian_trajectory_planner_B.sigma_h) { |
| 8461 | cartesian_trajectory_planner_B.flag = |
| 8462 | (cartesian_trajectory_planner_B.b_gamma < obj->StepTolerance); |
| 8463 | if (cartesian_trajectory_planner_B.flag) { |
| 8464 | for (cartesian_trajectory_planner_B.i_e = 0; |
| 8465 | cartesian_trajectory_planner_B.i_e < 6; |
| 8466 | cartesian_trajectory_planner_B.i_e++) { |
| 8467 | xSol[cartesian_trajectory_planner_B.i_e] = |
| 8468 | cartesian_trajectory_planner_B.x[cartesian_trajectory_planner_B.i_e]; |
| 8469 | } |
| 8470 | |
| 8471 | *exitFlag = StepSizeBelowMinimum; |
| 8472 | args = obj->ExtraArgs; |
| 8473 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8474 | cartesian_trajectory_planner_B.b_i < 36; |
| 8475 | cartesian_trajectory_planner_B.b_i++) { |
| 8476 | cartesian_trajectory_planner_B.unusedU0[cartesian_trajectory_planner_B.b_i] |
| 8477 | = args->WeightMatrix[cartesian_trajectory_planner_B.b_i]; |
| 8478 | } |
| 8479 | |
| 8480 | cartesian_trajectory_planner_B.b_i = grad->size[0]; |
| 8481 | grad->size[0] = args->ErrTemp->size[0]; |
| 8482 | cartes_emxEnsureCapacity_real_T(grad, |
| 8483 | cartesian_trajectory_planner_B.b_i); |
| 8484 | cartesian_trajectory_planner_B.i_e = args->ErrTemp->size[0]; |
| 8485 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8486 | cartesian_trajectory_planner_B.b_i < |
| 8487 | cartesian_trajectory_planner_B.i_e; |
| 8488 | cartesian_trajectory_planner_B.b_i++) { |
| 8489 | grad->data[cartesian_trajectory_planner_B.b_i] = |
| 8490 | args->ErrTemp->data[cartesian_trajectory_planner_B.b_i]; |
| 8491 | } |
| 8492 | |
| 8493 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8494 | cartesian_trajectory_planner_B.b_i < 6; |
| 8495 | cartesian_trajectory_planner_B.b_i++) { |
| 8496 | cartesian_trajectory_planner_B.x[cartesian_trajectory_planner_B.b_i] |
| 8497 | = 0.0; |
| 8498 | for (cartesian_trajectory_planner_B.idx = 0; |
| 8499 | cartesian_trajectory_planner_B.idx < 6; |
| 8500 | cartesian_trajectory_planner_B.idx++) { |
| 8501 | cartesian_trajectory_planner_B.A_i = |
| 8502 | cartesian_trajectory_planner_B.unusedU0[6 * |
| 8503 | cartesian_trajectory_planner_B.idx + |
| 8504 | cartesian_trajectory_planner_B.b_i] * grad-> |
| 8505 | data[cartesian_trajectory_planner_B.idx] + |
| 8506 | cartesian_trajectory_planner_B.x[cartesian_trajectory_planner_B.b_i]; |
| 8507 | cartesian_trajectory_planner_B.x[cartesian_trajectory_planner_B.b_i] |
| 8508 | = cartesian_trajectory_planner_B.A_i; |
| 8509 | } |
| 8510 | } |
| 8511 | |
| 8512 | *err = cartesian_trajectory_pla_norm_a |
| 8513 | (cartesian_trajectory_planner_B.x); |
| 8514 | *iter = static_cast<real_T> |
| 8515 | (cartesian_trajectory_planner_B.g_idx_0) + 1.0; |
| 8516 | exitg1 = 1; |
| 8517 | } else { |
| 8518 | cartesian_trajectory_planner_B.b_gamma *= |
| 8519 | cartesian_trajectory_planner_B.beta; |
| 8520 | cartesian_trajectory_planner_B.m++; |
| 8521 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8522 | cartesian_trajectory_planner_B.b_i < 6; |
| 8523 | cartesian_trajectory_planner_B.b_i++) { |
| 8524 | cartesian_trajectory_planner_B.sNew_g[cartesian_trajectory_planner_B.b_i] |
| 8525 | = cartesian_trajectory_planner_B.b_gamma * |
| 8526 | cartesian_trajectory_planner_B.Hg[cartesian_trajectory_planner_B.b_i] |
| 8527 | + cartesian_trajectory_planner_B.x[cartesian_trajectory_planner_B.b_i]; |
| 8528 | } |
| 8529 | |
| 8530 | cartesian_IKHelpers_computeCost |
| 8531 | (cartesian_trajectory_planner_B.sNew_g, obj->ExtraArgs, |
| 8532 | &cartesian_trajectory_planner_B.costNew, |
| 8533 | cartesian_trajectory_planner_B.V, unusedU1, &d); |
| 8534 | obj->ExtraArgs = d; |
| 8535 | } |
| 8536 | } else { |
| 8537 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8538 | cartesian_trajectory_planner_B.b_i < 6; |
| 8539 | cartesian_trajectory_planner_B.b_i++) { |
| 8540 | xSol[cartesian_trajectory_planner_B.b_i] += |
| 8541 | cartesian_trajectory_planner_B.x[cartesian_trajectory_planner_B.b_i]; |
| 8542 | } |
| 8543 | |
| 8544 | args = obj->ExtraArgs; |
| 8545 | cartesian_trajectory_planner_B.b_i = alpha->size[0]; |
| 8546 | alpha->size[0] = args->GradTemp->size[0]; |
| 8547 | cartes_emxEnsureCapacity_real_T(alpha, |
| 8548 | cartesian_trajectory_planner_B.b_i); |
| 8549 | cartesian_trajectory_planner_B.i_e = args->GradTemp->size[0]; |
| 8550 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8551 | cartesian_trajectory_planner_B.b_i < |
| 8552 | cartesian_trajectory_planner_B.i_e; |
| 8553 | cartesian_trajectory_planner_B.b_i++) { |
| 8554 | alpha->data[cartesian_trajectory_planner_B.b_i] = |
| 8555 | args->GradTemp->data[cartesian_trajectory_planner_B.b_i]; |
| 8556 | } |
| 8557 | |
| 8558 | exitg1 = 2; |
| 8559 | } |
| 8560 | } while (exitg1 == 0); |
| 8561 | |
| 8562 | if (exitg1 == 1) { |
| 8563 | exitg2 = 1; |
| 8564 | } else if ((cartesian_trajectory_planner_B.m == 0.0) && (fabs |
| 8565 | (cartesian_trajectory_planner_B.b_gamma - |
| 8566 | cartesian_trajectory_planner_B.s_j) < |
| 8567 | 1.4901161193847656E-8)) { |
| 8568 | cartesian_trajectory_planner_B.i_e = obj->ConstraintMatrix->size[0]; |
| 8569 | cartesian_trajectory_planner_B.b_i = grad->size[0]; |
| 8570 | grad->size[0] = cartesian_trajectory_planner_B.i_e; |
| 8571 | cartes_emxEnsureCapacity_real_T(grad, |
| 8572 | cartesian_trajectory_planner_B.b_i); |
| 8573 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8574 | cartesian_trajectory_planner_B.b_i < |
| 8575 | cartesian_trajectory_planner_B.i_e; |
| 8576 | cartesian_trajectory_planner_B.b_i++) { |
| 8577 | grad->data[cartesian_trajectory_planner_B.b_i] = |
| 8578 | obj->ConstraintMatrix->data |
| 8579 | [(cartesian_trajectory_planner_B.idxl - 1) * |
| 8580 | obj->ConstraintMatrix->size[0] + |
| 8581 | cartesian_trajectory_planner_B.b_i]; |
| 8582 | } |
| 8583 | |
| 8584 | activeSet->data[cartesian_trajectory_planner_B.idxl - 1] = true; |
| 8585 | cartesian_trajectory_planner_B.nx_i = activeSet->size[0] - 1; |
| 8586 | cartesian_trajectory_planner_B.idx = 0; |
| 8587 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8588 | cartesian_trajectory_planner_B.b_i <= |
| 8589 | cartesian_trajectory_planner_B.nx_i; |
| 8590 | cartesian_trajectory_planner_B.b_i++) { |
| 8591 | if (activeSet->data[cartesian_trajectory_planner_B.b_i]) { |
| 8592 | cartesian_trajectory_planner_B.idx++; |
| 8593 | } |
| 8594 | } |
| 8595 | |
| 8596 | cartesian_trajectory_planner_B.b_i = gb->size[0]; |
| 8597 | gb->size[0] = cartesian_trajectory_planner_B.idx; |
| 8598 | carte_emxEnsureCapacity_int32_T(gb, |
| 8599 | cartesian_trajectory_planner_B.b_i); |
| 8600 | cartesian_trajectory_planner_B.idx = 0; |
| 8601 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8602 | cartesian_trajectory_planner_B.b_i <= |
| 8603 | cartesian_trajectory_planner_B.nx_i; |
| 8604 | cartesian_trajectory_planner_B.b_i++) { |
| 8605 | if (activeSet->data[cartesian_trajectory_planner_B.b_i]) { |
| 8606 | gb->data[cartesian_trajectory_planner_B.idx] = |
| 8607 | cartesian_trajectory_planner_B.b_i + 1; |
| 8608 | cartesian_trajectory_planner_B.idx++; |
| 8609 | } |
| 8610 | } |
| 8611 | |
| 8612 | cartesian_trajectory_planner_B.i_e = obj->ConstraintMatrix->size[0]; |
| 8613 | cartesian_trajectory_planner_B.b_i = A->size[0] * A->size[1]; |
| 8614 | A->size[0] = cartesian_trajectory_planner_B.i_e; |
| 8615 | A->size[1] = gb->size[0]; |
| 8616 | cartes_emxEnsureCapacity_real_T(A, |
| 8617 | cartesian_trajectory_planner_B.b_i); |
| 8618 | cartesian_trajectory_planner_B.n_f = gb->size[0]; |
| 8619 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8620 | cartesian_trajectory_planner_B.b_i < |
| 8621 | cartesian_trajectory_planner_B.n_f; |
| 8622 | cartesian_trajectory_planner_B.b_i++) { |
| 8623 | for (cartesian_trajectory_planner_B.idx = 0; |
| 8624 | cartesian_trajectory_planner_B.idx < |
| 8625 | cartesian_trajectory_planner_B.i_e; |
| 8626 | cartesian_trajectory_planner_B.idx++) { |
| 8627 | A->data[cartesian_trajectory_planner_B.idx + A->size[0] * |
| 8628 | cartesian_trajectory_planner_B.b_i] = obj-> |
| 8629 | ConstraintMatrix->data[(gb-> |
| 8630 | data[cartesian_trajectory_planner_B.b_i] - 1) * |
| 8631 | obj->ConstraintMatrix->size[0] + |
| 8632 | cartesian_trajectory_planner_B.idx]; |
| 8633 | } |
| 8634 | } |
| 8635 | |
| 8636 | cartesian_trajectory_planner_B.b_i = AIn->size[0] * AIn->size[1]; |
| 8637 | AIn->size[0] = grad->size[0]; |
| 8638 | AIn->size[1] = grad->size[0]; |
| 8639 | cartes_emxEnsureCapacity_real_T(AIn, |
| 8640 | cartesian_trajectory_planner_B.b_i); |
| 8641 | cartesian_trajectory_planner_B.i_e = grad->size[0]; |
| 8642 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8643 | cartesian_trajectory_planner_B.b_i < |
| 8644 | cartesian_trajectory_planner_B.i_e; |
| 8645 | cartesian_trajectory_planner_B.b_i++) { |
| 8646 | cartesian_trajectory_planner_B.n_f = grad->size[0]; |
| 8647 | for (cartesian_trajectory_planner_B.idx = 0; |
| 8648 | cartesian_trajectory_planner_B.idx < |
| 8649 | cartesian_trajectory_planner_B.n_f; |
| 8650 | cartesian_trajectory_planner_B.idx++) { |
| 8651 | AIn->data[cartesian_trajectory_planner_B.idx + AIn->size[0] * |
| 8652 | cartesian_trajectory_planner_B.b_i] = grad-> |
| 8653 | data[cartesian_trajectory_planner_B.idx] * grad-> |
| 8654 | data[cartesian_trajectory_planner_B.b_i]; |
| 8655 | } |
| 8656 | } |
| 8657 | |
| 8658 | cartesian_trajectory_planner_B.m_p = AIn->size[0] - 1; |
| 8659 | cartesian_trajectory_planner_B.inner = AIn->size[1] - 1; |
| 8660 | cartesian_trajectory_planner_B.b_i = y_0->size[0] * y_0->size[1]; |
| 8661 | y_0->size[0] = AIn->size[0]; |
| 8662 | y_0->size[1] = 6; |
| 8663 | cartes_emxEnsureCapacity_real_T(y_0, |
| 8664 | cartesian_trajectory_planner_B.b_i); |
| 8665 | for (cartesian_trajectory_planner_B.idx = 0; |
| 8666 | cartesian_trajectory_planner_B.idx < 6; |
| 8667 | cartesian_trajectory_planner_B.idx++) { |
| 8668 | cartesian_trajectory_planner_B.coffset = |
| 8669 | (cartesian_trajectory_planner_B.m_p + 1) * |
| 8670 | cartesian_trajectory_planner_B.idx - 1; |
| 8671 | cartesian_trajectory_planner_B.boffset = |
| 8672 | cartesian_trajectory_planner_B.idx * 6 - 1; |
| 8673 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8674 | cartesian_trajectory_planner_B.b_i <= |
| 8675 | cartesian_trajectory_planner_B.m_p; |
| 8676 | cartesian_trajectory_planner_B.b_i++) { |
| 8677 | y_0->data[(cartesian_trajectory_planner_B.coffset + |
| 8678 | cartesian_trajectory_planner_B.b_i) + 1] = 0.0; |
| 8679 | } |
| 8680 | |
| 8681 | for (cartesian_trajectory_planner_B.nx_i = 0; |
| 8682 | cartesian_trajectory_planner_B.nx_i <= |
| 8683 | cartesian_trajectory_planner_B.inner; |
| 8684 | cartesian_trajectory_planner_B.nx_i++) { |
| 8685 | cartesian_trajectory_planner_B.aoffset = |
| 8686 | cartesian_trajectory_planner_B.nx_i * AIn->size[0] - 1; |
| 8687 | cartesian_trajectory_planner_B.s_j = |
| 8688 | cartesian_trajectory_planner_B.H |
| 8689 | [(cartesian_trajectory_planner_B.boffset + |
| 8690 | cartesian_trajectory_planner_B.nx_i) + 1]; |
| 8691 | for (cartesian_trajectory_planner_B.j = 0; |
| 8692 | cartesian_trajectory_planner_B.j <= |
| 8693 | cartesian_trajectory_planner_B.m_p; |
| 8694 | cartesian_trajectory_planner_B.j++) { |
| 8695 | cartesian_trajectory_planner_B.i_e = |
| 8696 | cartesian_trajectory_planner_B.j + 1; |
| 8697 | cartesian_trajectory_planner_B.b_i = |
| 8698 | cartesian_trajectory_planner_B.coffset + |
| 8699 | cartesian_trajectory_planner_B.i_e; |
| 8700 | y_0->data[cartesian_trajectory_planner_B.b_i] += AIn-> |
| 8701 | data[cartesian_trajectory_planner_B.aoffset + |
| 8702 | cartesian_trajectory_planner_B.i_e] * |
| 8703 | cartesian_trajectory_planner_B.s_j; |
| 8704 | } |
| 8705 | } |
| 8706 | } |
| 8707 | |
| 8708 | cartesian_trajectory_planner_B.b_i = grad_1->size[0] * |
| 8709 | grad_1->size[1]; |
| 8710 | grad_1->size[0] = 1; |
| 8711 | grad_1->size[1] = grad->size[0]; |
| 8712 | cartes_emxEnsureCapacity_real_T(grad_1, |
| 8713 | cartesian_trajectory_planner_B.b_i); |
| 8714 | cartesian_trajectory_planner_B.i_e = grad->size[0]; |
| 8715 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8716 | cartesian_trajectory_planner_B.b_i < |
| 8717 | cartesian_trajectory_planner_B.i_e; |
| 8718 | cartesian_trajectory_planner_B.b_i++) { |
| 8719 | grad_1->data[cartesian_trajectory_planner_B.b_i] = grad-> |
| 8720 | data[cartesian_trajectory_planner_B.b_i]; |
| 8721 | } |
| 8722 | |
| 8723 | cartesian_trajectory_planner_B.beta = 0.0; |
| 8724 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8725 | cartesian_trajectory_planner_B.b_i < 6; |
| 8726 | cartesian_trajectory_planner_B.b_i++) { |
| 8727 | cartesian_trajectory_planner_B.sNew_g[cartesian_trajectory_planner_B.b_i] |
| 8728 | = 0.0; |
| 8729 | for (cartesian_trajectory_planner_B.idx = 0; |
| 8730 | cartesian_trajectory_planner_B.idx < 6; |
| 8731 | cartesian_trajectory_planner_B.idx++) { |
| 8732 | cartesian_trajectory_planner_B.sigma = |
| 8733 | cartesian_trajectory_planner_B.H[6 * |
| 8734 | cartesian_trajectory_planner_B.b_i + |
| 8735 | cartesian_trajectory_planner_B.idx] * grad_1-> |
| 8736 | data[cartesian_trajectory_planner_B.idx] + |
| 8737 | cartesian_trajectory_planner_B.sNew_g[cartesian_trajectory_planner_B.b_i]; |
| 8738 | cartesian_trajectory_planner_B.sNew_g[cartesian_trajectory_planner_B.b_i] |
| 8739 | = cartesian_trajectory_planner_B.sigma; |
| 8740 | } |
| 8741 | |
| 8742 | cartesian_trajectory_planner_B.beta += |
| 8743 | cartesian_trajectory_planner_B.sNew_g[cartesian_trajectory_planner_B.b_i] |
| 8744 | * grad->data[cartesian_trajectory_planner_B.b_i]; |
| 8745 | } |
| 8746 | |
| 8747 | cartesian_trajectory_planner_B.s_j = 1.0 / |
| 8748 | cartesian_trajectory_planner_B.beta; |
| 8749 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8750 | cartesian_trajectory_planner_B.b_i < 6; |
| 8751 | cartesian_trajectory_planner_B.b_i++) { |
| 8752 | for (cartesian_trajectory_planner_B.idx = 0; |
| 8753 | cartesian_trajectory_planner_B.idx < 6; |
| 8754 | cartesian_trajectory_planner_B.idx++) { |
| 8755 | cartesian_trajectory_planner_B.idxl = |
| 8756 | cartesian_trajectory_planner_B.b_i + 6 * |
| 8757 | cartesian_trajectory_planner_B.idx; |
| 8758 | cartesian_trajectory_planner_B.H_m[cartesian_trajectory_planner_B.idxl] |
| 8759 | = 0.0; |
| 8760 | for (cartesian_trajectory_planner_B.i_e = 0; |
| 8761 | cartesian_trajectory_planner_B.i_e < 6; |
| 8762 | cartesian_trajectory_planner_B.i_e++) { |
| 8763 | cartesian_trajectory_planner_B.H_m[cartesian_trajectory_planner_B.idxl] |
| 8764 | += cartesian_trajectory_planner_B.H[6 * |
| 8765 | cartesian_trajectory_planner_B.i_e + |
| 8766 | cartesian_trajectory_planner_B.b_i] * y_0->data[6 * |
| 8767 | cartesian_trajectory_planner_B.idx + |
| 8768 | cartesian_trajectory_planner_B.i_e]; |
| 8769 | } |
| 8770 | } |
| 8771 | } |
| 8772 | |
| 8773 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8774 | cartesian_trajectory_planner_B.b_i < 36; |
| 8775 | cartesian_trajectory_planner_B.b_i++) { |
| 8776 | cartesian_trajectory_planner_B.H[cartesian_trajectory_planner_B.b_i] |
| 8777 | -= cartesian_trajectory_planner_B.s_j * |
| 8778 | cartesian_trajectory_planner_B.H_m[cartesian_trajectory_planner_B.b_i]; |
| 8779 | } |
| 8780 | |
| 8781 | guard1 = true; |
| 8782 | } else { |
| 8783 | cartesian_trajectory_planner_B.b_i = grad->size[0]; |
| 8784 | grad->size[0] = alpha->size[0]; |
| 8785 | cartes_emxEnsureCapacity_real_T(grad, |
| 8786 | cartesian_trajectory_planner_B.b_i); |
| 8787 | cartesian_trajectory_planner_B.i_e = alpha->size[0]; |
| 8788 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8789 | cartesian_trajectory_planner_B.b_i < |
| 8790 | cartesian_trajectory_planner_B.i_e; |
| 8791 | cartesian_trajectory_planner_B.b_i++) { |
| 8792 | grad->data[cartesian_trajectory_planner_B.b_i] = alpha-> |
| 8793 | data[cartesian_trajectory_planner_B.b_i] - grad-> |
| 8794 | data[cartesian_trajectory_planner_B.b_i]; |
| 8795 | } |
| 8796 | |
| 8797 | cartesian_trajectory_planner_B.b_gamma = 0.0; |
| 8798 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8799 | cartesian_trajectory_planner_B.b_i < 6; |
| 8800 | cartesian_trajectory_planner_B.b_i++) { |
| 8801 | cartesian_trajectory_planner_B.b_gamma += |
| 8802 | cartesian_trajectory_planner_B.Hg[cartesian_trajectory_planner_B.b_i] |
| 8803 | * grad->data[cartesian_trajectory_planner_B.b_i]; |
| 8804 | } |
| 8805 | |
| 8806 | cartesian_trajectory_planner_B.b_i = tmp->size[0] * tmp->size[1]; |
| 8807 | tmp->size[0] = 1; |
| 8808 | tmp->size[1] = grad->size[0]; |
| 8809 | cartes_emxEnsureCapacity_real_T(tmp, |
| 8810 | cartesian_trajectory_planner_B.b_i); |
| 8811 | cartesian_trajectory_planner_B.i_e = grad->size[0]; |
| 8812 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8813 | cartesian_trajectory_planner_B.b_i < |
| 8814 | cartesian_trajectory_planner_B.i_e; |
| 8815 | cartesian_trajectory_planner_B.b_i++) { |
| 8816 | tmp->data[cartesian_trajectory_planner_B.b_i] = 0.2 * grad-> |
| 8817 | data[cartesian_trajectory_planner_B.b_i]; |
| 8818 | } |
| 8819 | |
| 8820 | cartesian_trajectory_planner_B.s_j = 0.0; |
| 8821 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8822 | cartesian_trajectory_planner_B.b_i < 6; |
| 8823 | cartesian_trajectory_planner_B.b_i++) { |
| 8824 | cartesian_trajectory_planner_B.sNew_g[cartesian_trajectory_planner_B.b_i] |
| 8825 | = 0.0; |
| 8826 | for (cartesian_trajectory_planner_B.idx = 0; |
| 8827 | cartesian_trajectory_planner_B.idx < 6; |
| 8828 | cartesian_trajectory_planner_B.idx++) { |
| 8829 | cartesian_trajectory_planner_B.beta = |
| 8830 | cartesian_trajectory_planner_B.H[6 * |
| 8831 | cartesian_trajectory_planner_B.b_i + |
| 8832 | cartesian_trajectory_planner_B.idx] * tmp-> |
| 8833 | data[cartesian_trajectory_planner_B.idx] + |
| 8834 | cartesian_trajectory_planner_B.sNew_g[cartesian_trajectory_planner_B.b_i]; |
| 8835 | cartesian_trajectory_planner_B.sNew_g[cartesian_trajectory_planner_B.b_i] |
| 8836 | = cartesian_trajectory_planner_B.beta; |
| 8837 | } |
| 8838 | |
| 8839 | cartesian_trajectory_planner_B.s_j += |
| 8840 | cartesian_trajectory_planner_B.sNew_g[cartesian_trajectory_planner_B.b_i] |
| 8841 | * grad->data[cartesian_trajectory_planner_B.b_i]; |
| 8842 | } |
| 8843 | |
| 8844 | if (cartesian_trajectory_planner_B.b_gamma < |
| 8845 | cartesian_trajectory_planner_B.s_j) { |
| 8846 | cartesian_trajectory_planner_B.b_i = tmp_0->size[0] * |
| 8847 | tmp_0->size[1]; |
| 8848 | tmp_0->size[0] = 1; |
| 8849 | tmp_0->size[1] = grad->size[0]; |
| 8850 | cartes_emxEnsureCapacity_real_T(tmp_0, |
| 8851 | cartesian_trajectory_planner_B.b_i); |
| 8852 | cartesian_trajectory_planner_B.i_e = grad->size[0]; |
| 8853 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8854 | cartesian_trajectory_planner_B.b_i < |
| 8855 | cartesian_trajectory_planner_B.i_e; |
| 8856 | cartesian_trajectory_planner_B.b_i++) { |
| 8857 | tmp_0->data[cartesian_trajectory_planner_B.b_i] = 0.8 * |
| 8858 | grad->data[cartesian_trajectory_planner_B.b_i]; |
| 8859 | } |
| 8860 | |
| 8861 | cartesian_trajectory_planner_B.s_j = 0.0; |
| 8862 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8863 | cartesian_trajectory_planner_B.b_i < 6; |
| 8864 | cartesian_trajectory_planner_B.b_i++) { |
| 8865 | cartesian_trajectory_planner_B.sNew_g[cartesian_trajectory_planner_B.b_i] |
| 8866 | = 0.0; |
| 8867 | for (cartesian_trajectory_planner_B.idx = 0; |
| 8868 | cartesian_trajectory_planner_B.idx < 6; |
| 8869 | cartesian_trajectory_planner_B.idx++) { |
| 8870 | cartesian_trajectory_planner_B.beta = |
| 8871 | cartesian_trajectory_planner_B.H[6 * |
| 8872 | cartesian_trajectory_planner_B.b_i + |
| 8873 | cartesian_trajectory_planner_B.idx] * tmp_0-> |
| 8874 | data[cartesian_trajectory_planner_B.idx] + |
| 8875 | cartesian_trajectory_planner_B.sNew_g[cartesian_trajectory_planner_B.b_i]; |
| 8876 | cartesian_trajectory_planner_B.sNew_g[cartesian_trajectory_planner_B.b_i] |
| 8877 | = cartesian_trajectory_planner_B.beta; |
| 8878 | } |
| 8879 | |
| 8880 | cartesian_trajectory_planner_B.s_j += |
| 8881 | cartesian_trajectory_planner_B.sNew_g[cartesian_trajectory_planner_B.b_i] |
| 8882 | * grad->data[cartesian_trajectory_planner_B.b_i]; |
| 8883 | } |
| 8884 | |
| 8885 | cartesian_trajectory_planner_B.b_i = grad_0->size[0] * |
| 8886 | grad_0->size[1]; |
| 8887 | grad_0->size[0] = 1; |
| 8888 | grad_0->size[1] = grad->size[0]; |
| 8889 | cartes_emxEnsureCapacity_real_T(grad_0, |
| 8890 | cartesian_trajectory_planner_B.b_i); |
| 8891 | cartesian_trajectory_planner_B.i_e = grad->size[0]; |
| 8892 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8893 | cartesian_trajectory_planner_B.b_i < |
| 8894 | cartesian_trajectory_planner_B.i_e; |
| 8895 | cartesian_trajectory_planner_B.b_i++) { |
| 8896 | grad_0->data[cartesian_trajectory_planner_B.b_i] = grad-> |
| 8897 | data[cartesian_trajectory_planner_B.b_i]; |
| 8898 | } |
| 8899 | |
| 8900 | cartesian_trajectory_planner_B.beta = 0.0; |
| 8901 | cartesian_trajectory_planner_B.b_gamma = 0.0; |
| 8902 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8903 | cartesian_trajectory_planner_B.b_i < 6; |
| 8904 | cartesian_trajectory_planner_B.b_i++) { |
| 8905 | cartesian_trajectory_planner_B.sNew_g[cartesian_trajectory_planner_B.b_i] |
| 8906 | = 0.0; |
| 8907 | for (cartesian_trajectory_planner_B.idx = 0; |
| 8908 | cartesian_trajectory_planner_B.idx < 6; |
| 8909 | cartesian_trajectory_planner_B.idx++) { |
| 8910 | cartesian_trajectory_planner_B.sigma = |
| 8911 | cartesian_trajectory_planner_B.H[6 * |
| 8912 | cartesian_trajectory_planner_B.b_i + |
| 8913 | cartesian_trajectory_planner_B.idx] * grad_0-> |
| 8914 | data[cartesian_trajectory_planner_B.idx] + |
| 8915 | cartesian_trajectory_planner_B.sNew_g[cartesian_trajectory_planner_B.b_i]; |
| 8916 | cartesian_trajectory_planner_B.sNew_g[cartesian_trajectory_planner_B.b_i] |
| 8917 | = cartesian_trajectory_planner_B.sigma; |
| 8918 | } |
| 8919 | |
| 8920 | cartesian_trajectory_planner_B.beta += |
| 8921 | cartesian_trajectory_planner_B.sNew_g[cartesian_trajectory_planner_B.b_i] |
| 8922 | * grad->data[cartesian_trajectory_planner_B.b_i]; |
| 8923 | cartesian_trajectory_planner_B.b_gamma += |
| 8924 | cartesian_trajectory_planner_B.Hg[cartesian_trajectory_planner_B.b_i] |
| 8925 | * grad->data[cartesian_trajectory_planner_B.b_i]; |
| 8926 | } |
| 8927 | |
| 8928 | cartesian_trajectory_planner_B.b_gamma = |
| 8929 | cartesian_trajectory_planner_B.s_j / |
| 8930 | (cartesian_trajectory_planner_B.beta - |
| 8931 | cartesian_trajectory_planner_B.b_gamma); |
| 8932 | } else { |
| 8933 | cartesian_trajectory_planner_B.b_gamma = 1.0; |
| 8934 | } |
| 8935 | |
| 8936 | cartesian_trajectory_planner_B.beta = 0.0; |
| 8937 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8938 | cartesian_trajectory_planner_B.b_i < 6; |
| 8939 | cartesian_trajectory_planner_B.b_i++) { |
| 8940 | cartesian_trajectory_planner_B.s_j = 0.0; |
| 8941 | for (cartesian_trajectory_planner_B.idx = 0; |
| 8942 | cartesian_trajectory_planner_B.idx < 6; |
| 8943 | cartesian_trajectory_planner_B.idx++) { |
| 8944 | cartesian_trajectory_planner_B.s_j += |
| 8945 | cartesian_trajectory_planner_B.H[6 * |
| 8946 | cartesian_trajectory_planner_B.idx + |
| 8947 | cartesian_trajectory_planner_B.b_i] * (1.0 - |
| 8948 | cartesian_trajectory_planner_B.b_gamma) * grad-> |
| 8949 | data[cartesian_trajectory_planner_B.idx]; |
| 8950 | } |
| 8951 | |
| 8952 | cartesian_trajectory_planner_B.s_j += |
| 8953 | cartesian_trajectory_planner_B.b_gamma * |
| 8954 | cartesian_trajectory_planner_B.Hg[cartesian_trajectory_planner_B.b_i]; |
| 8955 | cartesian_trajectory_planner_B.beta += |
| 8956 | cartesian_trajectory_planner_B.s_j * grad-> |
| 8957 | data[cartesian_trajectory_planner_B.b_i]; |
| 8958 | cartesian_trajectory_planner_B.sNew_g[cartesian_trajectory_planner_B.b_i] |
| 8959 | = cartesian_trajectory_planner_B.s_j; |
| 8960 | } |
| 8961 | |
| 8962 | cartesian_trajectory_planner_B.b_i = sNew->size[0] * sNew->size[1]; |
| 8963 | sNew->size[0] = 6; |
| 8964 | sNew->size[1] = grad->size[0]; |
| 8965 | cartes_emxEnsureCapacity_real_T(sNew, |
| 8966 | cartesian_trajectory_planner_B.b_i); |
| 8967 | cartesian_trajectory_planner_B.i_e = grad->size[0]; |
| 8968 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8969 | cartesian_trajectory_planner_B.b_i < |
| 8970 | cartesian_trajectory_planner_B.i_e; |
| 8971 | cartesian_trajectory_planner_B.b_i++) { |
| 8972 | for (cartesian_trajectory_planner_B.idx = 0; |
| 8973 | cartesian_trajectory_planner_B.idx < 6; |
| 8974 | cartesian_trajectory_planner_B.idx++) { |
| 8975 | cartesian_trajectory_planner_B.s_j = |
| 8976 | cartesian_trajectory_planner_B.sNew_g[cartesian_trajectory_planner_B.idx] |
| 8977 | * grad->data[cartesian_trajectory_planner_B.b_i]; |
| 8978 | sNew->data[cartesian_trajectory_planner_B.idx + 6 * |
| 8979 | cartesian_trajectory_planner_B.b_i] = |
| 8980 | cartesian_trajectory_planner_B.s_j / |
| 8981 | cartesian_trajectory_planner_B.beta; |
| 8982 | } |
| 8983 | } |
| 8984 | |
| 8985 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8986 | cartesian_trajectory_planner_B.b_i < 36; |
| 8987 | cartesian_trajectory_planner_B.b_i++) { |
| 8988 | cartesian_trajectory_planner_B.V[cartesian_trajectory_planner_B.b_i] |
| 8989 | = |
| 8990 | cartesian_trajectory_planner_B.unusedU0[cartesian_trajectory_planner_B.b_i] |
| 8991 | - sNew->data[cartesian_trajectory_planner_B.b_i]; |
| 8992 | } |
| 8993 | |
| 8994 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 8995 | cartesian_trajectory_planner_B.b_i < 6; |
| 8996 | cartesian_trajectory_planner_B.b_i++) { |
| 8997 | for (cartesian_trajectory_planner_B.idx = 0; |
| 8998 | cartesian_trajectory_planner_B.idx < 6; |
| 8999 | cartesian_trajectory_planner_B.idx++) { |
| 9000 | cartesian_trajectory_planner_B.nx_i = |
| 9001 | cartesian_trajectory_planner_B.b_i + 6 * |
| 9002 | cartesian_trajectory_planner_B.idx; |
| 9003 | cartesian_trajectory_planner_B.H_m[cartesian_trajectory_planner_B.nx_i] |
| 9004 | = 0.0; |
| 9005 | for (cartesian_trajectory_planner_B.i_e = 0; |
| 9006 | cartesian_trajectory_planner_B.i_e < 6; |
| 9007 | cartesian_trajectory_planner_B.i_e++) { |
| 9008 | cartesian_trajectory_planner_B.H_m[cartesian_trajectory_planner_B.nx_i] |
| 9009 | += cartesian_trajectory_planner_B.V[6 * |
| 9010 | cartesian_trajectory_planner_B.i_e + |
| 9011 | cartesian_trajectory_planner_B.b_i] * |
| 9012 | cartesian_trajectory_planner_B.H[6 * |
| 9013 | cartesian_trajectory_planner_B.idx + |
| 9014 | cartesian_trajectory_planner_B.i_e]; |
| 9015 | } |
| 9016 | } |
| 9017 | } |
| 9018 | |
| 9019 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 9020 | cartesian_trajectory_planner_B.b_i < 6; |
| 9021 | cartesian_trajectory_planner_B.b_i++) { |
| 9022 | for (cartesian_trajectory_planner_B.idx = 0; |
| 9023 | cartesian_trajectory_planner_B.idx < 6; |
| 9024 | cartesian_trajectory_planner_B.idx++) { |
| 9025 | cartesian_trajectory_planner_B.nx_i = |
| 9026 | cartesian_trajectory_planner_B.b_i + 6 * |
| 9027 | cartesian_trajectory_planner_B.idx; |
| 9028 | cartesian_trajectory_planner_B.P[cartesian_trajectory_planner_B.nx_i] |
| 9029 | = 0.0; |
| 9030 | for (cartesian_trajectory_planner_B.i_e = 0; |
| 9031 | cartesian_trajectory_planner_B.i_e < 6; |
| 9032 | cartesian_trajectory_planner_B.i_e++) { |
| 9033 | cartesian_trajectory_planner_B.P[cartesian_trajectory_planner_B.nx_i] |
| 9034 | += cartesian_trajectory_planner_B.H_m[6 * |
| 9035 | cartesian_trajectory_planner_B.i_e + |
| 9036 | cartesian_trajectory_planner_B.b_i] * |
| 9037 | cartesian_trajectory_planner_B.V[6 * |
| 9038 | cartesian_trajectory_planner_B.i_e + |
| 9039 | cartesian_trajectory_planner_B.idx]; |
| 9040 | } |
| 9041 | } |
| 9042 | } |
| 9043 | |
| 9044 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 9045 | cartesian_trajectory_planner_B.b_i < 6; |
| 9046 | cartesian_trajectory_planner_B.b_i++) { |
| 9047 | for (cartesian_trajectory_planner_B.idx = 0; |
| 9048 | cartesian_trajectory_planner_B.idx < 6; |
| 9049 | cartesian_trajectory_planner_B.idx++) { |
| 9050 | cartesian_trajectory_planner_B.sNew[cartesian_trajectory_planner_B.idx |
| 9051 | + 6 * cartesian_trajectory_planner_B.b_i] = |
| 9052 | cartesian_trajectory_planner_B.sNew_g[cartesian_trajectory_planner_B.idx] |
| 9053 | * cartesian_trajectory_planner_B.sNew_g[cartesian_trajectory_planner_B.b_i] |
| 9054 | / cartesian_trajectory_planner_B.beta; |
| 9055 | } |
| 9056 | } |
| 9057 | |
| 9058 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 9059 | cartesian_trajectory_planner_B.b_i < 36; |
| 9060 | cartesian_trajectory_planner_B.b_i++) { |
| 9061 | cartesian_trajectory_planner_B.s_j = |
| 9062 | cartesian_trajectory_planner_B.P[cartesian_trajectory_planner_B.b_i] |
| 9063 | + cartesian_trajectory_planner_B.sNew[cartesian_trajectory_planner_B.b_i]; |
| 9064 | cartesian_trajectory_planner_B.H_m[cartesian_trajectory_planner_B.b_i] |
| 9065 | = 1.4901161193847656E-8 * static_cast<real_T> |
| 9066 | (tmp_1[cartesian_trajectory_planner_B.b_i]) + |
| 9067 | cartesian_trajectory_planner_B.s_j; |
| 9068 | cartesian_trajectory_planner_B.H[cartesian_trajectory_planner_B.b_i] |
| 9069 | = cartesian_trajectory_planner_B.s_j; |
| 9070 | } |
| 9071 | |
| 9072 | if (!cartesian_tr_isPositiveDefinite |
| 9073 | (cartesian_trajectory_planner_B.H_m)) { |
| 9074 | *exitFlag = HessianNotPositiveSemidefinite; |
| 9075 | args = obj->ExtraArgs; |
| 9076 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 9077 | cartesian_trajectory_planner_B.b_i < 36; |
| 9078 | cartesian_trajectory_planner_B.b_i++) { |
| 9079 | cartesian_trajectory_planner_B.unusedU0[cartesian_trajectory_planner_B.b_i] |
| 9080 | = args->WeightMatrix[cartesian_trajectory_planner_B.b_i]; |
| 9081 | } |
| 9082 | |
| 9083 | cartesian_trajectory_planner_B.b_i = grad->size[0]; |
| 9084 | grad->size[0] = args->ErrTemp->size[0]; |
| 9085 | cartes_emxEnsureCapacity_real_T(grad, |
| 9086 | cartesian_trajectory_planner_B.b_i); |
| 9087 | cartesian_trajectory_planner_B.i_e = args->ErrTemp->size[0]; |
| 9088 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 9089 | cartesian_trajectory_planner_B.b_i < |
| 9090 | cartesian_trajectory_planner_B.i_e; |
| 9091 | cartesian_trajectory_planner_B.b_i++) { |
| 9092 | grad->data[cartesian_trajectory_planner_B.b_i] = args-> |
| 9093 | ErrTemp->data[cartesian_trajectory_planner_B.b_i]; |
| 9094 | } |
| 9095 | |
| 9096 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 9097 | cartesian_trajectory_planner_B.b_i < 6; |
| 9098 | cartesian_trajectory_planner_B.b_i++) { |
| 9099 | cartesian_trajectory_planner_B.x[cartesian_trajectory_planner_B.b_i] |
| 9100 | = 0.0; |
| 9101 | for (cartesian_trajectory_planner_B.idx = 0; |
| 9102 | cartesian_trajectory_planner_B.idx < 6; |
| 9103 | cartesian_trajectory_planner_B.idx++) { |
| 9104 | cartesian_trajectory_planner_B.A_i = |
| 9105 | cartesian_trajectory_planner_B.unusedU0[6 * |
| 9106 | cartesian_trajectory_planner_B.idx + |
| 9107 | cartesian_trajectory_planner_B.b_i] * grad-> |
| 9108 | data[cartesian_trajectory_planner_B.idx] + |
| 9109 | cartesian_trajectory_planner_B.x[cartesian_trajectory_planner_B.b_i]; |
| 9110 | cartesian_trajectory_planner_B.x[cartesian_trajectory_planner_B.b_i] |
| 9111 | = cartesian_trajectory_planner_B.A_i; |
| 9112 | } |
| 9113 | } |
| 9114 | |
| 9115 | *err = cartesian_trajectory_pla_norm_a |
| 9116 | (cartesian_trajectory_planner_B.x); |
| 9117 | *iter = static_cast<real_T> |
| 9118 | (cartesian_trajectory_planner_B.g_idx_0) + 1.0; |
| 9119 | exitg2 = 1; |
| 9120 | } else { |
| 9121 | guard1 = true; |
| 9122 | } |
| 9123 | } |
| 9124 | } |
| 9125 | |
| 9126 | if (guard1) { |
| 9127 | if (DampedBFGSwGradientProjectio_as(obj, xSol)) { |
| 9128 | for (cartesian_trajectory_planner_B.i_e = 0; |
| 9129 | cartesian_trajectory_planner_B.i_e < 6; |
| 9130 | cartesian_trajectory_planner_B.i_e++) { |
| 9131 | xSol[cartesian_trajectory_planner_B.i_e] = |
| 9132 | cartesian_trajectory_planner_B.x[cartesian_trajectory_planner_B.i_e]; |
| 9133 | } |
| 9134 | |
| 9135 | *exitFlag = SearchDirectionInvalid; |
| 9136 | args = obj->ExtraArgs; |
| 9137 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 9138 | cartesian_trajectory_planner_B.b_i < 36; |
| 9139 | cartesian_trajectory_planner_B.b_i++) { |
| 9140 | cartesian_trajectory_planner_B.unusedU0[cartesian_trajectory_planner_B.b_i] |
| 9141 | = args->WeightMatrix[cartesian_trajectory_planner_B.b_i]; |
| 9142 | } |
| 9143 | |
| 9144 | cartesian_trajectory_planner_B.b_i = grad->size[0]; |
| 9145 | grad->size[0] = args->ErrTemp->size[0]; |
| 9146 | cartes_emxEnsureCapacity_real_T(grad, |
| 9147 | cartesian_trajectory_planner_B.b_i); |
| 9148 | cartesian_trajectory_planner_B.i_e = args->ErrTemp->size[0]; |
| 9149 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 9150 | cartesian_trajectory_planner_B.b_i < |
| 9151 | cartesian_trajectory_planner_B.i_e; |
| 9152 | cartesian_trajectory_planner_B.b_i++) { |
| 9153 | grad->data[cartesian_trajectory_planner_B.b_i] = args-> |
| 9154 | ErrTemp->data[cartesian_trajectory_planner_B.b_i]; |
| 9155 | } |
| 9156 | |
| 9157 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 9158 | cartesian_trajectory_planner_B.b_i < 6; |
| 9159 | cartesian_trajectory_planner_B.b_i++) { |
| 9160 | cartesian_trajectory_planner_B.x[cartesian_trajectory_planner_B.b_i] |
| 9161 | = 0.0; |
| 9162 | for (cartesian_trajectory_planner_B.idx = 0; |
| 9163 | cartesian_trajectory_planner_B.idx < 6; |
| 9164 | cartesian_trajectory_planner_B.idx++) { |
| 9165 | cartesian_trajectory_planner_B.A_i = |
| 9166 | cartesian_trajectory_planner_B.unusedU0[6 * |
| 9167 | cartesian_trajectory_planner_B.idx + |
| 9168 | cartesian_trajectory_planner_B.b_i] * grad-> |
| 9169 | data[cartesian_trajectory_planner_B.idx] + |
| 9170 | cartesian_trajectory_planner_B.x[cartesian_trajectory_planner_B.b_i]; |
| 9171 | cartesian_trajectory_planner_B.x[cartesian_trajectory_planner_B.b_i] |
| 9172 | = cartesian_trajectory_planner_B.A_i; |
| 9173 | } |
| 9174 | } |
| 9175 | |
| 9176 | *err = cartesian_trajectory_pla_norm_a |
| 9177 | (cartesian_trajectory_planner_B.x); |
| 9178 | *iter = static_cast<real_T>(cartesian_trajectory_planner_B.g_idx_0) |
| 9179 | + 1.0; |
| 9180 | exitg2 = 1; |
| 9181 | } else { |
| 9182 | for (cartesian_trajectory_planner_B.i_e = 0; |
| 9183 | cartesian_trajectory_planner_B.i_e < 6; |
| 9184 | cartesian_trajectory_planner_B.i_e++) { |
| 9185 | cartesian_trajectory_planner_B.x[cartesian_trajectory_planner_B.i_e] |
| 9186 | = xSol[cartesian_trajectory_planner_B.i_e]; |
| 9187 | } |
| 9188 | |
| 9189 | cartesian_trajectory_planner_B.b_i = grad->size[0]; |
| 9190 | grad->size[0] = alpha->size[0]; |
| 9191 | cartes_emxEnsureCapacity_real_T(grad, |
| 9192 | cartesian_trajectory_planner_B.b_i); |
| 9193 | cartesian_trajectory_planner_B.i_e = alpha->size[0]; |
| 9194 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 9195 | cartesian_trajectory_planner_B.b_i < |
| 9196 | cartesian_trajectory_planner_B.i_e; |
| 9197 | cartesian_trajectory_planner_B.b_i++) { |
| 9198 | grad->data[cartesian_trajectory_planner_B.b_i] = alpha-> |
| 9199 | data[cartesian_trajectory_planner_B.b_i]; |
| 9200 | } |
| 9201 | |
| 9202 | cartesian_trajectory_planner_B.cost = |
| 9203 | cartesian_trajectory_planner_B.costNew; |
| 9204 | cartesian_trajectory_planner_B.g_idx_0++; |
| 9205 | } |
| 9206 | } |
| 9207 | } |
| 9208 | } |
| 9209 | } else { |
| 9210 | *exitFlag = IterationLimitExceeded; |
| 9211 | args = obj->ExtraArgs; |
| 9212 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 9213 | cartesian_trajectory_planner_B.b_i < 36; |
| 9214 | cartesian_trajectory_planner_B.b_i++) { |
| 9215 | cartesian_trajectory_planner_B.unusedU0[cartesian_trajectory_planner_B.b_i] |
| 9216 | = args->WeightMatrix[cartesian_trajectory_planner_B.b_i]; |
| 9217 | } |
| 9218 | |
| 9219 | cartesian_trajectory_planner_B.b_i = grad->size[0]; |
| 9220 | grad->size[0] = args->ErrTemp->size[0]; |
| 9221 | cartes_emxEnsureCapacity_real_T(grad, cartesian_trajectory_planner_B.b_i); |
| 9222 | cartesian_trajectory_planner_B.i_e = args->ErrTemp->size[0]; |
| 9223 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 9224 | cartesian_trajectory_planner_B.b_i < |
| 9225 | cartesian_trajectory_planner_B.i_e; |
| 9226 | cartesian_trajectory_planner_B.b_i++) { |
| 9227 | grad->data[cartesian_trajectory_planner_B.b_i] = args->ErrTemp-> |
| 9228 | data[cartesian_trajectory_planner_B.b_i]; |
| 9229 | } |
| 9230 | |
| 9231 | for (cartesian_trajectory_planner_B.b_i = 0; |
| 9232 | cartesian_trajectory_planner_B.b_i < 6; |
| 9233 | cartesian_trajectory_planner_B.b_i++) { |
| 9234 | cartesian_trajectory_planner_B.x[cartesian_trajectory_planner_B.b_i] = |
| 9235 | 0.0; |
| 9236 | for (cartesian_trajectory_planner_B.idx = 0; |
| 9237 | cartesian_trajectory_planner_B.idx < 6; |
| 9238 | cartesian_trajectory_planner_B.idx++) { |
| 9239 | cartesian_trajectory_planner_B.A_i = |
| 9240 | cartesian_trajectory_planner_B.unusedU0[6 * |
| 9241 | cartesian_trajectory_planner_B.idx + |
| 9242 | cartesian_trajectory_planner_B.b_i] * grad-> |
| 9243 | data[cartesian_trajectory_planner_B.idx] + |
| 9244 | cartesian_trajectory_planner_B.x[cartesian_trajectory_planner_B.b_i]; |
| 9245 | cartesian_trajectory_planner_B.x[cartesian_trajectory_planner_B.b_i] = |
| 9246 | cartesian_trajectory_planner_B.A_i; |
| 9247 | } |
| 9248 | } |
| 9249 | |
| 9250 | *err = cartesian_trajectory_pla_norm_a(cartesian_trajectory_planner_B.x); |
| 9251 | *iter = obj->MaxNumIterationInternal; |
| 9252 | exitg2 = 1; |
| 9253 | } |
| 9254 | } while (exitg2 == 0); |
| 9255 | |
| 9256 | cartesian_traje_emxFree_int32_T(&ii_3); |
| 9257 | cartesian_trajec_emxFree_real_T(&alpha_0); |
| 9258 | cartesian_trajec_emxFree_real_T(&A_3); |
| 9259 | cartesian_trajec_emxFree_real_T(&grad_1); |
| 9260 | cartesian_traje_emxFree_int32_T(&ii_2); |
| 9261 | cartesian_traje_emxFree_int32_T(&ii_1); |
| 9262 | cartesian_trajec_emxFree_real_T(&sNew); |
| 9263 | cartesian_trajec_emxFree_real_T(&grad_0); |
| 9264 | cartesian_trajec_emxFree_real_T(&tmp_0); |
| 9265 | cartesian_trajec_emxFree_real_T(&tmp); |
| 9266 | cartesian_trajec_emxFree_real_T(&sigma); |
| 9267 | cartesian_trajec_emxFree_real_T(&A_2); |
| 9268 | cartesian_tra_emxFree_boolean_T(&x); |
| 9269 | cartesian_trajec_emxFree_real_T(&y_0); |
| 9270 | cartesian_traje_emxFree_int32_T(&ii_0); |
| 9271 | cartesian_trajec_emxFree_real_T(&y); |
| 9272 | cartesian_traje_emxFree_int32_T(&ii); |
| 9273 | cartesian_trajec_emxFree_real_T(&a); |
| 9274 | cartesian_traje_emxFree_int32_T(&gb); |
| 9275 | cartesian_traje_emxFree_int32_T(&fb); |
| 9276 | cartesian_traje_emxFree_int32_T(&eb); |
| 9277 | cartesian_traje_emxFree_int32_T(&db); |
| 9278 | cartesian_traje_emxFree_int32_T(&cb); |
| 9279 | cartesian_trajec_emxFree_real_T(&L); |
| 9280 | cartesian_trajec_emxFree_real_T(&AIn); |
| 9281 | cartesian_trajec_emxFree_real_T(&alpha); |
| 9282 | cartesian_trajec_emxFree_real_T(&A); |
| 9283 | cartesian_tra_emxFree_boolean_T(&activeSet); |
| 9284 | cartesian_trajec_emxFree_real_T(&grad); |
| 9285 | cartesian_trajec_emxFree_real_T(&unusedU1); |
| 9286 | } |
| 9287 | |
| 9288 | static void cartesian_trajectory_p_isfinite(const |
| 9289 | emxArray_real_T_cartesian_tra_T *x, emxArray_boolean_T_cartesian__T *b) |
| 9290 | { |
| 9291 | emxArray_boolean_T_cartesian__T *tmp; |
| 9292 | int32_T loop_ub; |
| 9293 | int32_T i; |
| 9294 | i = b->size[0]; |
| 9295 | b->size[0] = x->size[0]; |
| 9296 | car_emxEnsureCapacity_boolean_T(b, i); |
| 9297 | loop_ub = x->size[0]; |
| 9298 | for (i = 0; i < loop_ub; i++) { |
| 9299 | b->data[i] = rtIsInf(x->data[i]); |
| 9300 | } |
| 9301 | |
| 9302 | cartesian_tra_emxInit_boolean_T(&tmp, 1); |
| 9303 | i = tmp->size[0]; |
| 9304 | tmp->size[0] = x->size[0]; |
| 9305 | car_emxEnsureCapacity_boolean_T(tmp, i); |
| 9306 | loop_ub = x->size[0]; |
| 9307 | for (i = 0; i < loop_ub; i++) { |
| 9308 | tmp->data[i] = rtIsNaN(x->data[i]); |
| 9309 | } |
| 9310 | |
| 9311 | i = b->size[0]; |
| 9312 | car_emxEnsureCapacity_boolean_T(b, i); |
| 9313 | loop_ub = b->size[0]; |
| 9314 | for (i = 0; i < loop_ub; i++) { |
| 9315 | b->data[i] = ((!b->data[i]) && (!tmp->data[i])); |
| 9316 | } |
| 9317 | |
| 9318 | cartesian_tra_emxFree_boolean_T(&tmp); |
| 9319 | } |
| 9320 | |
| 9321 | static void cartesi_genrand_uint32_vector_a(uint32_T mt[625], uint32_T u[2]) |
| 9322 | { |
| 9323 | for (cartesian_trajectory_planner_B.b_j_j = 0; |
| 9324 | cartesian_trajectory_planner_B.b_j_j < 2; |
| 9325 | cartesian_trajectory_planner_B.b_j_j++) { |
| 9326 | cartesian_trajectory_planner_B.mti = mt[624] + 1U; |
| 9327 | if (cartesian_trajectory_planner_B.mti >= 625U) { |
| 9328 | for (cartesian_trajectory_planner_B.b_kk = 0; |
| 9329 | cartesian_trajectory_planner_B.b_kk < 227; |
| 9330 | cartesian_trajectory_planner_B.b_kk++) { |
| 9331 | cartesian_trajectory_planner_B.y_e = |
| 9332 | (mt[cartesian_trajectory_planner_B.b_kk + 1] & 2147483647U) | |
| 9333 | (mt[cartesian_trajectory_planner_B.b_kk] & 2147483648U); |
| 9334 | if ((cartesian_trajectory_planner_B.y_e & 1U) == 0U) { |
| 9335 | cartesian_trajectory_planner_B.y_e >>= 1U; |
| 9336 | } else { |
| 9337 | cartesian_trajectory_planner_B.y_e = |
| 9338 | cartesian_trajectory_planner_B.y_e >> 1U ^ 2567483615U; |
| 9339 | } |
| 9340 | |
| 9341 | mt[cartesian_trajectory_planner_B.b_kk] = |
| 9342 | mt[cartesian_trajectory_planner_B.b_kk + 397] ^ |
| 9343 | cartesian_trajectory_planner_B.y_e; |
| 9344 | } |
| 9345 | |
| 9346 | for (cartesian_trajectory_planner_B.b_kk = 0; |
| 9347 | cartesian_trajectory_planner_B.b_kk < 396; |
| 9348 | cartesian_trajectory_planner_B.b_kk++) { |
| 9349 | cartesian_trajectory_planner_B.y_e = |
| 9350 | (mt[cartesian_trajectory_planner_B.b_kk + 227] & 2147483648U) | |
| 9351 | (mt[cartesian_trajectory_planner_B.b_kk + 228] & 2147483647U); |
| 9352 | if ((cartesian_trajectory_planner_B.y_e & 1U) == 0U) { |
| 9353 | cartesian_trajectory_planner_B.y_e >>= 1U; |
| 9354 | } else { |
| 9355 | cartesian_trajectory_planner_B.y_e = |
| 9356 | cartesian_trajectory_planner_B.y_e >> 1U ^ 2567483615U; |
| 9357 | } |
| 9358 | |
| 9359 | mt[cartesian_trajectory_planner_B.b_kk + 227] = |
| 9360 | mt[cartesian_trajectory_planner_B.b_kk] ^ |
| 9361 | cartesian_trajectory_planner_B.y_e; |
| 9362 | } |
| 9363 | |
| 9364 | cartesian_trajectory_planner_B.y_e = (mt[623] & 2147483648U) | (mt[0] & |
| 9365 | 2147483647U); |
| 9366 | if ((cartesian_trajectory_planner_B.y_e & 1U) == 0U) { |
| 9367 | cartesian_trajectory_planner_B.y_e >>= 1U; |
| 9368 | } else { |
| 9369 | cartesian_trajectory_planner_B.y_e = cartesian_trajectory_planner_B.y_e >> |
| 9370 | 1U ^ 2567483615U; |
| 9371 | } |
| 9372 | |
| 9373 | mt[623] = mt[396] ^ cartesian_trajectory_planner_B.y_e; |
| 9374 | cartesian_trajectory_planner_B.mti = 1U; |
| 9375 | } |
| 9376 | |
| 9377 | cartesian_trajectory_planner_B.y_e = mt[static_cast<int32_T> |
| 9378 | (cartesian_trajectory_planner_B.mti) - 1]; |
| 9379 | mt[624] = cartesian_trajectory_planner_B.mti; |
| 9380 | cartesian_trajectory_planner_B.y_e ^= cartesian_trajectory_planner_B.y_e >> |
| 9381 | 11U; |
| 9382 | cartesian_trajectory_planner_B.y_e ^= cartesian_trajectory_planner_B.y_e << |
| 9383 | 7U & 2636928640U; |
| 9384 | cartesian_trajectory_planner_B.y_e ^= cartesian_trajectory_planner_B.y_e << |
| 9385 | 15U & 4022730752U; |
| 9386 | u[cartesian_trajectory_planner_B.b_j_j] = cartesian_trajectory_planner_B.y_e |
| 9387 | >> 18U ^ cartesian_trajectory_planner_B.y_e; |
| 9388 | } |
| 9389 | } |
| 9390 | |
| 9391 | static boolean_T cartesian_trajec_is_valid_state(const uint32_T mt[625]) |
| 9392 | { |
| 9393 | boolean_T isvalid; |
| 9394 | boolean_T exitg1; |
| 9395 | if ((mt[624] >= 1U) && (mt[624] < 625U)) { |
| 9396 | isvalid = true; |
| 9397 | } else { |
| 9398 | isvalid = false; |
| 9399 | } |
| 9400 | |
| 9401 | if (isvalid) { |
| 9402 | isvalid = false; |
| 9403 | cartesian_trajectory_planner_B.k_h = 0; |
| 9404 | exitg1 = false; |
| 9405 | while ((!exitg1) && (cartesian_trajectory_planner_B.k_h + 1 < 625)) { |
| 9406 | if (mt[cartesian_trajectory_planner_B.k_h] == 0U) { |
| 9407 | cartesian_trajectory_planner_B.k_h++; |
| 9408 | } else { |
| 9409 | isvalid = true; |
| 9410 | exitg1 = true; |
| 9411 | } |
| 9412 | } |
| 9413 | } |
| 9414 | |
| 9415 | return isvalid; |
| 9416 | } |
| 9417 | |
| 9418 | static real_T cartesian_trajectory_genrandu_a(uint32_T mt[625]) |
| 9419 | { |
| 9420 | real_T r; |
| 9421 | int32_T exitg1; |
| 9422 | |
| 9423 | // ========================= COPYRIGHT NOTICE ============================ |
| 9424 | // This is a uniform (0,1) pseudorandom number generator based on: |
| 9425 | // |
| 9426 | // A C-program for MT19937, with initialization improved 2002/1/26. |
| 9427 | // Coded by Takuji Nishimura and Makoto Matsumoto. |
| 9428 | // |
| 9429 | // Copyright (C) 1997 - 2002, Makoto Matsumoto and Takuji Nishimura, |
| 9430 | // All rights reserved. |
| 9431 | // |
| 9432 | // Redistribution and use in source and binary forms, with or without |
| 9433 | // modification, are permitted provided that the following conditions |
| 9434 | // are met: |
| 9435 | // |
| 9436 | // 1. Redistributions of source code must retain the above copyright |
| 9437 | // notice, this list of conditions and the following disclaimer. |
| 9438 | // |
| 9439 | // 2. Redistributions in binary form must reproduce the above copyright |
| 9440 | // notice, this list of conditions and the following disclaimer |
| 9441 | // in the documentation and/or other materials provided with the |
| 9442 | // distribution. |
| 9443 | // |
| 9444 | // 3. The names of its contributors may not be used to endorse or |
| 9445 | // promote products derived from this software without specific |
| 9446 | // prior written permission. |
| 9447 | // |
| 9448 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
| 9449 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
| 9450 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
| 9451 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
| 9452 | // OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
| 9453 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
| 9454 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
| 9455 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
| 9456 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
| 9457 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
| 9458 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
| 9459 | // |
| 9460 | // ============================= END ================================= |
| 9461 | do { |
| 9462 | exitg1 = 0; |
| 9463 | cartesi_genrand_uint32_vector_a(mt, cartesian_trajectory_planner_B.b_u_d); |
| 9464 | r = (static_cast<real_T>(cartesian_trajectory_planner_B.b_u_d[0] >> 5U) * |
| 9465 | 6.7108864E+7 + static_cast<real_T> |
| 9466 | (cartesian_trajectory_planner_B.b_u_d[1] >> 6U)) * |
| 9467 | 1.1102230246251565E-16; |
| 9468 | if (r == 0.0) { |
| 9469 | if (!cartesian_trajec_is_valid_state(mt)) { |
| 9470 | cartesian_trajectory_planner_B.r_i = 5489U; |
| 9471 | mt[0] = 5489U; |
| 9472 | for (cartesian_trajectory_planner_B.b_mti_o = 0; |
| 9473 | cartesian_trajectory_planner_B.b_mti_o < 623; |
| 9474 | cartesian_trajectory_planner_B.b_mti_o++) { |
| 9475 | cartesian_trajectory_planner_B.r_i = |
| 9476 | ((cartesian_trajectory_planner_B.r_i >> 30U ^ |
| 9477 | cartesian_trajectory_planner_B.r_i) * 1812433253U + |
| 9478 | cartesian_trajectory_planner_B.b_mti_o) + 1U; |
| 9479 | mt[cartesian_trajectory_planner_B.b_mti_o + 1] = |
| 9480 | cartesian_trajectory_planner_B.r_i; |
| 9481 | } |
| 9482 | |
| 9483 | mt[624] = 624U; |
| 9484 | } |
| 9485 | } else { |
| 9486 | exitg1 = 1; |
| 9487 | } |
| 9488 | } while (exitg1 == 0); |
| 9489 | |
| 9490 | return r; |
| 9491 | } |
| 9492 | |
| 9493 | static real_T cartesia_eml_rand_mt19937ar_ast(uint32_T state[625]) |
| 9494 | { |
| 9495 | real_T r; |
| 9496 | static const real_T tmp[257] = { 1.0, 0.977101701267673, 0.959879091800108, |
| 9497 | 0.9451989534423, 0.932060075959231, 0.919991505039348, 0.908726440052131, |
| 9498 | 0.898095921898344, 0.887984660755834, 0.878309655808918, 0.869008688036857, |
| 9499 | 0.860033621196332, 0.851346258458678, 0.842915653112205, 0.834716292986884, |
| 9500 | 0.826726833946222, 0.818929191603703, 0.811307874312656, 0.803849483170964, |
| 9501 | 0.796542330422959, 0.789376143566025, 0.782341832654803, 0.775431304981187, |
| 9502 | 0.768637315798486, 0.761953346836795, 0.755373506507096, 0.748892447219157, |
| 9503 | 0.742505296340151, 0.736207598126863, 0.729995264561476, 0.72386453346863, |
| 9504 | 0.717811932630722, 0.711834248878248, 0.705928501332754, 0.700091918136512, |
| 9505 | 0.694321916126117, 0.688616083004672, 0.682972161644995, 0.677388036218774, |
| 9506 | 0.671861719897082, 0.66639134390875, 0.660975147776663, 0.655611470579697, |
| 9507 | 0.650298743110817, 0.645035480820822, 0.639820277453057, 0.634651799287624, |
| 9508 | 0.629528779924837, 0.624450015547027, 0.619414360605834, 0.614420723888914, |
| 9509 | 0.609468064925773, 0.604555390697468, 0.599681752619125, 0.594846243767987, |
| 9510 | 0.590047996332826, 0.585286179263371, 0.580559996100791, 0.575868682972354, |
| 9511 | 0.571211506735253, 0.566587763256165, 0.561996775814525, 0.557437893618766, |
| 9512 | 0.552910490425833, 0.548413963255266, 0.543947731190026, 0.539511234256952, |
| 9513 | 0.535103932380458, 0.530725304403662, 0.526374847171684, 0.522052074672322, |
| 9514 | 0.517756517229756, 0.513487720747327, 0.509245245995748, 0.505028667943468, |
| 9515 | 0.500837575126149, 0.49667156905249, 0.492530263643869, 0.488413284705458, |
| 9516 | 0.484320269426683, 0.480250865909047, 0.476204732719506, 0.47218153846773, |
| 9517 | 0.468180961405694, 0.464202689048174, 0.460246417812843, 0.456311852678716, |
| 9518 | 0.452398706861849, 0.448506701507203, 0.444635565395739, 0.440785034665804, |
| 9519 | 0.436954852547985, 0.433144769112652, 0.429354541029442, 0.425583931338022, |
| 9520 | 0.421832709229496, 0.418100649837848, 0.414387534040891, 0.410693148270188, |
| 9521 | 0.407017284329473, 0.403359739221114, 0.399720314980197, 0.396098818515832, |
| 9522 | 0.392495061459315, 0.388908860018789, 0.385340034840077, 0.381788410873393, |
| 9523 | 0.378253817245619, 0.374736087137891, 0.371235057668239, 0.367750569779032, |
| 9524 | 0.364282468129004, 0.360830600989648, 0.357394820145781, 0.353974980800077, |
| 9525 | 0.350570941481406, 0.347182563956794, 0.343809713146851, 0.340452257044522, |
| 9526 | 0.337110066637006, 0.333783015830718, 0.330470981379163, 0.327173842813601, |
| 9527 | 0.323891482376391, 0.320623784956905, 0.317370638029914, 0.314131931596337, |
| 9528 | 0.310907558126286, 0.307697412504292, 0.30450139197665, 0.301319396100803, |
| 9529 | 0.298151326696685, 0.294997087799962, 0.291856585617095, 0.288729728482183, |
| 9530 | 0.285616426815502, 0.282516593083708, 0.279430141761638, 0.276356989295668, |
| 9531 | 0.273297054068577, 0.270250256365875, 0.267216518343561, 0.264195763997261, |
| 9532 | 0.261187919132721, 0.258192911337619, 0.255210669954662, 0.252241126055942, |
| 9533 | 0.249284212418529, 0.246339863501264, 0.24340801542275, 0.240488605940501, |
| 9534 | 0.237581574431238, 0.23468686187233, 0.231804410824339, 0.228934165414681, |
| 9535 | 0.226076071322381, 0.223230075763918, 0.220396127480152, 0.217574176724331, |
| 9536 | 0.214764175251174, 0.211966076307031, 0.209179834621125, 0.206405406397881, |
| 9537 | 0.203642749310335, 0.200891822494657, 0.198152586545776, 0.195425003514135, |
| 9538 | 0.192709036903589, 0.190004651670465, 0.187311814223801, 0.1846304924268, |
| 9539 | 0.181960655599523, 0.179302274522848, 0.176655321443735, 0.174019770081839, |
| 9540 | 0.171395595637506, 0.168782774801212, 0.166181285764482, 0.163591108232366, |
| 9541 | 0.161012223437511, 0.158444614155925, 0.15588826472448, 0.153343161060263, |
| 9542 | 0.150809290681846, 0.148286642732575, 0.145775208005994, 0.143274978973514, |
| 9543 | 0.140785949814445, 0.138308116448551, 0.135841476571254, 0.133386029691669, |
| 9544 | 0.130941777173644, 0.12850872228, 0.126086870220186, 0.123676228201597, |
| 9545 | 0.12127680548479, 0.11888861344291, 0.116511665625611, 0.114145977827839, |
| 9546 | 0.111791568163838, 0.109448457146812, 0.107116667774684, 0.104796225622487, |
| 9547 | 0.102487158941935, 0.10018949876881, 0.0979032790388625, 0.095628536713009, |
| 9548 | 0.093365311912691, 0.0911136480663738, 0.0888735920682759, |
| 9549 | 0.0866451944505581, 0.0844285095703535, 0.082223595813203, |
| 9550 | 0.0800305158146631, 0.0778493367020961, 0.0756801303589272, |
| 9551 | 0.0735229737139814, 0.0713779490588905, 0.0692451443970068, |
| 9552 | 0.0671246538277886, 0.065016577971243, 0.0629210244377582, 0.06083810834954, |
| 9553 | 0.0587679529209339, 0.0567106901062031, 0.0546664613248891, |
| 9554 | 0.0526354182767924, 0.0506177238609479, 0.0486135532158687, |
| 9555 | 0.0466230949019305, 0.0446465522512946, 0.0426841449164746, |
| 9556 | 0.0407361106559411, 0.0388027074045262, 0.0368842156885674, |
| 9557 | 0.0349809414617162, 0.0330932194585786, 0.0312214171919203, |
| 9558 | 0.0293659397581334, 0.0275272356696031, 0.0257058040085489, |
| 9559 | 0.0239022033057959, 0.0221170627073089, 0.0203510962300445, |
| 9560 | 0.0186051212757247, 0.0168800831525432, 0.0151770883079353, |
| 9561 | 0.0134974506017399, 0.0118427578579079, 0.0102149714397015, |
| 9562 | 0.00861658276939875, 0.00705087547137324, 0.00552240329925101, |
| 9563 | 0.00403797259336304, 0.00260907274610216, 0.0012602859304986, |
| 9564 | 0.000477467764609386 }; |
| 9565 | |
| 9566 | const real_T *fitab; |
| 9567 | int32_T exitg1; |
| 9568 | cartesian_trajectory_planner_B.xi[0] = 0.0; |
| 9569 | cartesian_trajectory_planner_B.xi[1] = 0.215241895984875; |
| 9570 | cartesian_trajectory_planner_B.xi[2] = 0.286174591792068; |
| 9571 | cartesian_trajectory_planner_B.xi[3] = 0.335737519214422; |
| 9572 | cartesian_trajectory_planner_B.xi[4] = 0.375121332878378; |
| 9573 | cartesian_trajectory_planner_B.xi[5] = 0.408389134611989; |
| 9574 | cartesian_trajectory_planner_B.xi[6] = 0.43751840220787; |
| 9575 | cartesian_trajectory_planner_B.xi[7] = 0.46363433679088; |
| 9576 | cartesian_trajectory_planner_B.xi[8] = 0.487443966139235; |
| 9577 | cartesian_trajectory_planner_B.xi[9] = 0.50942332960209; |
| 9578 | cartesian_trajectory_planner_B.xi[10] = 0.529909720661557; |
| 9579 | cartesian_trajectory_planner_B.xi[11] = 0.549151702327164; |
| 9580 | cartesian_trajectory_planner_B.xi[12] = 0.567338257053817; |
| 9581 | cartesian_trajectory_planner_B.xi[13] = 0.584616766106378; |
| 9582 | cartesian_trajectory_planner_B.xi[14] = 0.601104617755991; |
| 9583 | cartesian_trajectory_planner_B.xi[15] = 0.61689699000775; |
| 9584 | cartesian_trajectory_planner_B.xi[16] = 0.63207223638606; |
| 9585 | cartesian_trajectory_planner_B.xi[17] = 0.646695714894993; |
| 9586 | cartesian_trajectory_planner_B.xi[18] = 0.660822574244419; |
| 9587 | cartesian_trajectory_planner_B.xi[19] = 0.674499822837293; |
| 9588 | cartesian_trajectory_planner_B.xi[20] = 0.687767892795788; |
| 9589 | cartesian_trajectory_planner_B.xi[21] = 0.700661841106814; |
| 9590 | cartesian_trajectory_planner_B.xi[22] = 0.713212285190975; |
| 9591 | cartesian_trajectory_planner_B.xi[23] = 0.725446140909999; |
| 9592 | cartesian_trajectory_planner_B.xi[24] = 0.737387211434295; |
| 9593 | cartesian_trajectory_planner_B.xi[25] = 0.749056662017815; |
| 9594 | cartesian_trajectory_planner_B.xi[26] = 0.760473406430107; |
| 9595 | cartesian_trajectory_planner_B.xi[27] = 0.771654424224568; |
| 9596 | cartesian_trajectory_planner_B.xi[28] = 0.782615023307232; |
| 9597 | cartesian_trajectory_planner_B.xi[29] = 0.793369058840623; |
| 9598 | cartesian_trajectory_planner_B.xi[30] = 0.80392911698997; |
| 9599 | cartesian_trajectory_planner_B.xi[31] = 0.814306670135215; |
| 9600 | cartesian_trajectory_planner_B.xi[32] = 0.824512208752291; |
| 9601 | cartesian_trajectory_planner_B.xi[33] = 0.834555354086381; |
| 9602 | cartesian_trajectory_planner_B.xi[34] = 0.844444954909153; |
| 9603 | cartesian_trajectory_planner_B.xi[35] = 0.854189171008163; |
| 9604 | cartesian_trajectory_planner_B.xi[36] = 0.863795545553308; |
| 9605 | cartesian_trajectory_planner_B.xi[37] = 0.87327106808886; |
| 9606 | cartesian_trajectory_planner_B.xi[38] = 0.882622229585165; |
| 9607 | cartesian_trajectory_planner_B.xi[39] = 0.891855070732941; |
| 9608 | cartesian_trajectory_planner_B.xi[40] = 0.900975224461221; |
| 9609 | cartesian_trajectory_planner_B.xi[41] = 0.909987953496718; |
| 9610 | cartesian_trajectory_planner_B.xi[42] = 0.91889818364959; |
| 9611 | cartesian_trajectory_planner_B.xi[43] = 0.927710533401999; |
| 9612 | cartesian_trajectory_planner_B.xi[44] = 0.936429340286575; |
| 9613 | cartesian_trajectory_planner_B.xi[45] = 0.945058684468165; |
| 9614 | cartesian_trajectory_planner_B.xi[46] = 0.953602409881086; |
| 9615 | cartesian_trajectory_planner_B.xi[47] = 0.96206414322304; |
| 9616 | cartesian_trajectory_planner_B.xi[48] = 0.970447311064224; |
| 9617 | cartesian_trajectory_planner_B.xi[49] = 0.978755155294224; |
| 9618 | cartesian_trajectory_planner_B.xi[50] = 0.986990747099062; |
| 9619 | cartesian_trajectory_planner_B.xi[51] = 0.99515699963509; |
| 9620 | cartesian_trajectory_planner_B.xi[52] = 1.00325667954467; |
| 9621 | cartesian_trajectory_planner_B.xi[53] = 1.01129241744; |
| 9622 | cartesian_trajectory_planner_B.xi[54] = 1.01926671746548; |
| 9623 | cartesian_trajectory_planner_B.xi[55] = 1.02718196603564; |
| 9624 | cartesian_trajectory_planner_B.xi[56] = 1.03504043983344; |
| 9625 | cartesian_trajectory_planner_B.xi[57] = 1.04284431314415; |
| 9626 | cartesian_trajectory_planner_B.xi[58] = 1.05059566459093; |
| 9627 | cartesian_trajectory_planner_B.xi[59] = 1.05829648333067; |
| 9628 | cartesian_trajectory_planner_B.xi[60] = 1.06594867476212; |
| 9629 | cartesian_trajectory_planner_B.xi[61] = 1.07355406579244; |
| 9630 | cartesian_trajectory_planner_B.xi[62] = 1.0811144097034; |
| 9631 | cartesian_trajectory_planner_B.xi[63] = 1.08863139065398; |
| 9632 | cartesian_trajectory_planner_B.xi[64] = 1.09610662785202; |
| 9633 | cartesian_trajectory_planner_B.xi[65] = 1.10354167942464; |
| 9634 | cartesian_trajectory_planner_B.xi[66] = 1.11093804601357; |
| 9635 | cartesian_trajectory_planner_B.xi[67] = 1.11829717411934; |
| 9636 | cartesian_trajectory_planner_B.xi[68] = 1.12562045921553; |
| 9637 | cartesian_trajectory_planner_B.xi[69] = 1.13290924865253; |
| 9638 | cartesian_trajectory_planner_B.xi[70] = 1.14016484436815; |
| 9639 | cartesian_trajectory_planner_B.xi[71] = 1.14738850542085; |
| 9640 | cartesian_trajectory_planner_B.xi[72] = 1.15458145035993; |
| 9641 | cartesian_trajectory_planner_B.xi[73] = 1.16174485944561; |
| 9642 | cartesian_trajectory_planner_B.xi[74] = 1.16887987673083; |
| 9643 | cartesian_trajectory_planner_B.xi[75] = 1.17598761201545; |
| 9644 | cartesian_trajectory_planner_B.xi[76] = 1.18306914268269; |
| 9645 | cartesian_trajectory_planner_B.xi[77] = 1.19012551542669; |
| 9646 | cartesian_trajectory_planner_B.xi[78] = 1.19715774787944; |
| 9647 | cartesian_trajectory_planner_B.xi[79] = 1.20416683014438; |
| 9648 | cartesian_trajectory_planner_B.xi[80] = 1.2111537262437; |
| 9649 | cartesian_trajectory_planner_B.xi[81] = 1.21811937548548; |
| 9650 | cartesian_trajectory_planner_B.xi[82] = 1.22506469375653; |
| 9651 | cartesian_trajectory_planner_B.xi[83] = 1.23199057474614; |
| 9652 | cartesian_trajectory_planner_B.xi[84] = 1.23889789110569; |
| 9653 | cartesian_trajectory_planner_B.xi[85] = 1.24578749554863; |
| 9654 | cartesian_trajectory_planner_B.xi[86] = 1.2526602218949; |
| 9655 | cartesian_trajectory_planner_B.xi[87] = 1.25951688606371; |
| 9656 | cartesian_trajectory_planner_B.xi[88] = 1.26635828701823; |
| 9657 | cartesian_trajectory_planner_B.xi[89] = 1.27318520766536; |
| 9658 | cartesian_trajectory_planner_B.xi[90] = 1.27999841571382; |
| 9659 | cartesian_trajectory_planner_B.xi[91] = 1.28679866449324; |
| 9660 | cartesian_trajectory_planner_B.xi[92] = 1.29358669373695; |
| 9661 | cartesian_trajectory_planner_B.xi[93] = 1.30036323033084; |
| 9662 | cartesian_trajectory_planner_B.xi[94] = 1.30712898903073; |
| 9663 | cartesian_trajectory_planner_B.xi[95] = 1.31388467315022; |
| 9664 | cartesian_trajectory_planner_B.xi[96] = 1.32063097522106; |
| 9665 | cartesian_trajectory_planner_B.xi[97] = 1.32736857762793; |
| 9666 | cartesian_trajectory_planner_B.xi[98] = 1.33409815321936; |
| 9667 | cartesian_trajectory_planner_B.xi[99] = 1.3408203658964; |
| 9668 | cartesian_trajectory_planner_B.xi[100] = 1.34753587118059; |
| 9669 | cartesian_trajectory_planner_B.xi[101] = 1.35424531676263; |
| 9670 | cartesian_trajectory_planner_B.xi[102] = 1.36094934303328; |
| 9671 | cartesian_trajectory_planner_B.xi[103] = 1.36764858359748; |
| 9672 | cartesian_trajectory_planner_B.xi[104] = 1.37434366577317; |
| 9673 | cartesian_trajectory_planner_B.xi[105] = 1.38103521107586; |
| 9674 | cartesian_trajectory_planner_B.xi[106] = 1.38772383568998; |
| 9675 | cartesian_trajectory_planner_B.xi[107] = 1.39441015092814; |
| 9676 | cartesian_trajectory_planner_B.xi[108] = 1.40109476367925; |
| 9677 | cartesian_trajectory_planner_B.xi[109] = 1.4077782768464; |
| 9678 | cartesian_trajectory_planner_B.xi[110] = 1.41446128977547; |
| 9679 | cartesian_trajectory_planner_B.xi[111] = 1.42114439867531; |
| 9680 | cartesian_trajectory_planner_B.xi[112] = 1.42782819703026; |
| 9681 | cartesian_trajectory_planner_B.xi[113] = 1.43451327600589; |
| 9682 | cartesian_trajectory_planner_B.xi[114] = 1.44120022484872; |
| 9683 | cartesian_trajectory_planner_B.xi[115] = 1.44788963128058; |
| 9684 | cartesian_trajectory_planner_B.xi[116] = 1.45458208188841; |
| 9685 | cartesian_trajectory_planner_B.xi[117] = 1.46127816251028; |
| 9686 | cartesian_trajectory_planner_B.xi[118] = 1.46797845861808; |
| 9687 | cartesian_trajectory_planner_B.xi[119] = 1.47468355569786; |
| 9688 | cartesian_trajectory_planner_B.xi[120] = 1.48139403962819; |
| 9689 | cartesian_trajectory_planner_B.xi[121] = 1.48811049705745; |
| 9690 | cartesian_trajectory_planner_B.xi[122] = 1.49483351578049; |
| 9691 | cartesian_trajectory_planner_B.xi[123] = 1.50156368511546; |
| 9692 | cartesian_trajectory_planner_B.xi[124] = 1.50830159628131; |
| 9693 | cartesian_trajectory_planner_B.xi[125] = 1.51504784277671; |
| 9694 | cartesian_trajectory_planner_B.xi[126] = 1.521803020761; |
| 9695 | cartesian_trajectory_planner_B.xi[127] = 1.52856772943771; |
| 9696 | cartesian_trajectory_planner_B.xi[128] = 1.53534257144151; |
| 9697 | cartesian_trajectory_planner_B.xi[129] = 1.542128153229; |
| 9698 | cartesian_trajectory_planner_B.xi[130] = 1.54892508547417; |
| 9699 | cartesian_trajectory_planner_B.xi[131] = 1.55573398346918; |
| 9700 | cartesian_trajectory_planner_B.xi[132] = 1.56255546753104; |
| 9701 | cartesian_trajectory_planner_B.xi[133] = 1.56939016341512; |
| 9702 | cartesian_trajectory_planner_B.xi[134] = 1.57623870273591; |
| 9703 | cartesian_trajectory_planner_B.xi[135] = 1.58310172339603; |
| 9704 | cartesian_trajectory_planner_B.xi[136] = 1.58997987002419; |
| 9705 | cartesian_trajectory_planner_B.xi[137] = 1.59687379442279; |
| 9706 | cartesian_trajectory_planner_B.xi[138] = 1.60378415602609; |
| 9707 | cartesian_trajectory_planner_B.xi[139] = 1.61071162236983; |
| 9708 | cartesian_trajectory_planner_B.xi[140] = 1.61765686957301; |
| 9709 | cartesian_trajectory_planner_B.xi[141] = 1.62462058283303; |
| 9710 | cartesian_trajectory_planner_B.xi[142] = 1.63160345693487; |
| 9711 | cartesian_trajectory_planner_B.xi[143] = 1.63860619677555; |
| 9712 | cartesian_trajectory_planner_B.xi[144] = 1.64562951790478; |
| 9713 | cartesian_trajectory_planner_B.xi[145] = 1.65267414708306; |
| 9714 | cartesian_trajectory_planner_B.xi[146] = 1.65974082285818; |
| 9715 | cartesian_trajectory_planner_B.xi[147] = 1.66683029616166; |
| 9716 | cartesian_trajectory_planner_B.xi[148] = 1.67394333092612; |
| 9717 | cartesian_trajectory_planner_B.xi[149] = 1.68108070472517; |
| 9718 | cartesian_trajectory_planner_B.xi[150] = 1.68824320943719; |
| 9719 | cartesian_trajectory_planner_B.xi[151] = 1.69543165193456; |
| 9720 | cartesian_trajectory_planner_B.xi[152] = 1.70264685479992; |
| 9721 | cartesian_trajectory_planner_B.xi[153] = 1.7098896570713; |
| 9722 | cartesian_trajectory_planner_B.xi[154] = 1.71716091501782; |
| 9723 | cartesian_trajectory_planner_B.xi[155] = 1.72446150294804; |
| 9724 | cartesian_trajectory_planner_B.xi[156] = 1.73179231405296; |
| 9725 | cartesian_trajectory_planner_B.xi[157] = 1.73915426128591; |
| 9726 | cartesian_trajectory_planner_B.xi[158] = 1.74654827828172; |
| 9727 | cartesian_trajectory_planner_B.xi[159] = 1.75397532031767; |
| 9728 | cartesian_trajectory_planner_B.xi[160] = 1.76143636531891; |
| 9729 | cartesian_trajectory_planner_B.xi[161] = 1.76893241491127; |
| 9730 | cartesian_trajectory_planner_B.xi[162] = 1.77646449552452; |
| 9731 | cartesian_trajectory_planner_B.xi[163] = 1.78403365954944; |
| 9732 | cartesian_trajectory_planner_B.xi[164] = 1.79164098655216; |
| 9733 | cartesian_trajectory_planner_B.xi[165] = 1.79928758454972; |
| 9734 | cartesian_trajectory_planner_B.xi[166] = 1.80697459135082; |
| 9735 | cartesian_trajectory_planner_B.xi[167] = 1.81470317596628; |
| 9736 | cartesian_trajectory_planner_B.xi[168] = 1.82247454009388; |
| 9737 | cartesian_trajectory_planner_B.xi[169] = 1.83028991968276; |
| 9738 | cartesian_trajectory_planner_B.xi[170] = 1.83815058658281; |
| 9739 | cartesian_trajectory_planner_B.xi[171] = 1.84605785028518; |
| 9740 | cartesian_trajectory_planner_B.xi[172] = 1.8540130597602; |
| 9741 | cartesian_trajectory_planner_B.xi[173] = 1.86201760539967; |
| 9742 | cartesian_trajectory_planner_B.xi[174] = 1.87007292107127; |
| 9743 | cartesian_trajectory_planner_B.xi[175] = 1.878180486293; |
| 9744 | cartesian_trajectory_planner_B.xi[176] = 1.88634182853678; |
| 9745 | cartesian_trajectory_planner_B.xi[177] = 1.8945585256707; |
| 9746 | cartesian_trajectory_planner_B.xi[178] = 1.90283220855043; |
| 9747 | cartesian_trajectory_planner_B.xi[179] = 1.91116456377125; |
| 9748 | cartesian_trajectory_planner_B.xi[180] = 1.91955733659319; |
| 9749 | cartesian_trajectory_planner_B.xi[181] = 1.92801233405266; |
| 9750 | cartesian_trajectory_planner_B.xi[182] = 1.93653142827569; |
| 9751 | cartesian_trajectory_planner_B.xi[183] = 1.94511656000868; |
| 9752 | cartesian_trajectory_planner_B.xi[184] = 1.95376974238465; |
| 9753 | cartesian_trajectory_planner_B.xi[185] = 1.96249306494436; |
| 9754 | cartesian_trajectory_planner_B.xi[186] = 1.97128869793366; |
| 9755 | cartesian_trajectory_planner_B.xi[187] = 1.98015889690048; |
| 9756 | cartesian_trajectory_planner_B.xi[188] = 1.98910600761744; |
| 9757 | cartesian_trajectory_planner_B.xi[189] = 1.99813247135842; |
| 9758 | cartesian_trajectory_planner_B.xi[190] = 2.00724083056053; |
| 9759 | cartesian_trajectory_planner_B.xi[191] = 2.0164337349062; |
| 9760 | cartesian_trajectory_planner_B.xi[192] = 2.02571394786385; |
| 9761 | cartesian_trajectory_planner_B.xi[193] = 2.03508435372962; |
| 9762 | cartesian_trajectory_planner_B.xi[194] = 2.04454796521753; |
| 9763 | cartesian_trajectory_planner_B.xi[195] = 2.05410793165065; |
| 9764 | cartesian_trajectory_planner_B.xi[196] = 2.06376754781173; |
| 9765 | cartesian_trajectory_planner_B.xi[197] = 2.07353026351874; |
| 9766 | cartesian_trajectory_planner_B.xi[198] = 2.0833996939983; |
| 9767 | cartesian_trajectory_planner_B.xi[199] = 2.09337963113879; |
| 9768 | cartesian_trajectory_planner_B.xi[200] = 2.10347405571488; |
| 9769 | cartesian_trajectory_planner_B.xi[201] = 2.11368715068665; |
| 9770 | cartesian_trajectory_planner_B.xi[202] = 2.12402331568952; |
| 9771 | cartesian_trajectory_planner_B.xi[203] = 2.13448718284602; |
| 9772 | cartesian_trajectory_planner_B.xi[204] = 2.14508363404789; |
| 9773 | cartesian_trajectory_planner_B.xi[205] = 2.15581781987674; |
| 9774 | cartesian_trajectory_planner_B.xi[206] = 2.16669518035431; |
| 9775 | cartesian_trajectory_planner_B.xi[207] = 2.17772146774029; |
| 9776 | cartesian_trajectory_planner_B.xi[208] = 2.18890277162636; |
| 9777 | cartesian_trajectory_planner_B.xi[209] = 2.20024554661128; |
| 9778 | cartesian_trajectory_planner_B.xi[210] = 2.21175664288416; |
| 9779 | cartesian_trajectory_planner_B.xi[211] = 2.22344334009251; |
| 9780 | cartesian_trajectory_planner_B.xi[212] = 2.23531338492992; |
| 9781 | cartesian_trajectory_planner_B.xi[213] = 2.24737503294739; |
| 9782 | cartesian_trajectory_planner_B.xi[214] = 2.25963709517379; |
| 9783 | cartesian_trajectory_planner_B.xi[215] = 2.27210899022838; |
| 9784 | cartesian_trajectory_planner_B.xi[216] = 2.28480080272449; |
| 9785 | cartesian_trajectory_planner_B.xi[217] = 2.29772334890286; |
| 9786 | cartesian_trajectory_planner_B.xi[218] = 2.31088825060137; |
| 9787 | cartesian_trajectory_planner_B.xi[219] = 2.32430801887113; |
| 9788 | cartesian_trajectory_planner_B.xi[220] = 2.33799614879653; |
| 9789 | cartesian_trajectory_planner_B.xi[221] = 2.35196722737914; |
| 9790 | cartesian_trajectory_planner_B.xi[222] = 2.36623705671729; |
| 9791 | cartesian_trajectory_planner_B.xi[223] = 2.38082279517208; |
| 9792 | cartesian_trajectory_planner_B.xi[224] = 2.39574311978193; |
| 9793 | cartesian_trajectory_planner_B.xi[225] = 2.41101841390112; |
| 9794 | cartesian_trajectory_planner_B.xi[226] = 2.42667098493715; |
| 9795 | cartesian_trajectory_planner_B.xi[227] = 2.44272531820036; |
| 9796 | cartesian_trajectory_planner_B.xi[228] = 2.4592083743347; |
| 9797 | cartesian_trajectory_planner_B.xi[229] = 2.47614993967052; |
| 9798 | cartesian_trajectory_planner_B.xi[230] = 2.49358304127105; |
| 9799 | cartesian_trajectory_planner_B.xi[231] = 2.51154444162669; |
| 9800 | cartesian_trajectory_planner_B.xi[232] = 2.53007523215985; |
| 9801 | cartesian_trajectory_planner_B.xi[233] = 2.54922155032478; |
| 9802 | cartesian_trajectory_planner_B.xi[234] = 2.56903545268184; |
| 9803 | cartesian_trajectory_planner_B.xi[235] = 2.58957598670829; |
| 9804 | cartesian_trajectory_planner_B.xi[236] = 2.61091051848882; |
| 9805 | cartesian_trajectory_planner_B.xi[237] = 2.63311639363158; |
| 9806 | cartesian_trajectory_planner_B.xi[238] = 2.65628303757674; |
| 9807 | cartesian_trajectory_planner_B.xi[239] = 2.68051464328574; |
| 9808 | cartesian_trajectory_planner_B.xi[240] = 2.70593365612306; |
| 9809 | cartesian_trajectory_planner_B.xi[241] = 2.73268535904401; |
| 9810 | cartesian_trajectory_planner_B.xi[242] = 2.76094400527999; |
| 9811 | cartesian_trajectory_planner_B.xi[243] = 2.79092117400193; |
| 9812 | cartesian_trajectory_planner_B.xi[244] = 2.82287739682644; |
| 9813 | cartesian_trajectory_planner_B.xi[245] = 2.85713873087322; |
| 9814 | cartesian_trajectory_planner_B.xi[246] = 2.89412105361341; |
| 9815 | cartesian_trajectory_planner_B.xi[247] = 2.93436686720889; |
| 9816 | cartesian_trajectory_planner_B.xi[248] = 2.97860327988184; |
| 9817 | cartesian_trajectory_planner_B.xi[249] = 3.02783779176959; |
| 9818 | cartesian_trajectory_planner_B.xi[250] = 3.08352613200214; |
| 9819 | cartesian_trajectory_planner_B.xi[251] = 3.147889289518; |
| 9820 | cartesian_trajectory_planner_B.xi[252] = 3.2245750520478; |
| 9821 | cartesian_trajectory_planner_B.xi[253] = 3.32024473383983; |
| 9822 | cartesian_trajectory_planner_B.xi[254] = 3.44927829856143; |
| 9823 | cartesian_trajectory_planner_B.xi[255] = 3.65415288536101; |
| 9824 | cartesian_trajectory_planner_B.xi[256] = 3.91075795952492; |
| 9825 | fitab = &tmp[0]; |
| 9826 | do { |
| 9827 | exitg1 = 0; |
| 9828 | cartesi_genrand_uint32_vector_a(state, cartesian_trajectory_planner_B.u32); |
| 9829 | cartesian_trajectory_planner_B.i_g = static_cast<int32_T> |
| 9830 | ((cartesian_trajectory_planner_B.u32[1] >> 24U) + 1U); |
| 9831 | r = ((static_cast<real_T>(cartesian_trajectory_planner_B.u32[0] >> 3U) * |
| 9832 | 1.6777216E+7 + static_cast<real_T>(static_cast<int32_T> |
| 9833 | (cartesian_trajectory_planner_B.u32[1]) & 16777215)) * |
| 9834 | 2.2204460492503131E-16 - 1.0) * |
| 9835 | cartesian_trajectory_planner_B.xi[cartesian_trajectory_planner_B.i_g]; |
| 9836 | if (fabs(r) <= |
| 9837 | cartesian_trajectory_planner_B.xi[cartesian_trajectory_planner_B.i_g - 1]) |
| 9838 | { |
| 9839 | exitg1 = 1; |
| 9840 | } else if (cartesian_trajectory_planner_B.i_g < 256) { |
| 9841 | cartesian_trajectory_planner_B.x_h = cartesian_trajectory_genrandu_a(state); |
| 9842 | if ((fitab[cartesian_trajectory_planner_B.i_g - 1] - |
| 9843 | fitab[cartesian_trajectory_planner_B.i_g]) * |
| 9844 | cartesian_trajectory_planner_B.x_h + |
| 9845 | fitab[cartesian_trajectory_planner_B.i_g] < exp(-0.5 * r * r)) { |
| 9846 | exitg1 = 1; |
| 9847 | } |
| 9848 | } else { |
| 9849 | do { |
| 9850 | cartesian_trajectory_planner_B.x_h = cartesian_trajectory_genrandu_a |
| 9851 | (state); |
| 9852 | cartesian_trajectory_planner_B.x_h = log |
| 9853 | (cartesian_trajectory_planner_B.x_h) * 0.273661237329758; |
| 9854 | cartesian_trajectory_planner_B.d_u = cartesian_trajectory_genrandu_a |
| 9855 | (state); |
| 9856 | } while (!(-2.0 * log(cartesian_trajectory_planner_B.d_u) > |
| 9857 | cartesian_trajectory_planner_B.x_h * |
| 9858 | cartesian_trajectory_planner_B.x_h)); |
| 9859 | |
| 9860 | if (r < 0.0) { |
| 9861 | r = cartesian_trajectory_planner_B.x_h - 3.65415288536101; |
| 9862 | } else { |
| 9863 | r = 3.65415288536101 - cartesian_trajectory_planner_B.x_h; |
| 9864 | } |
| 9865 | |
| 9866 | exitg1 = 1; |
| 9867 | } |
| 9868 | } while (exitg1 == 0); |
| 9869 | |
| 9870 | return r; |
| 9871 | } |
| 9872 | |
| 9873 | static void cartesian_trajectory_plan_randn(const real_T varargin_1[2], |
| 9874 | emxArray_real_T_cartesian_tra_T *r) |
| 9875 | { |
| 9876 | cartesian_trajectory_planner_B.b_k_j = r->size[0] * r->size[1]; |
| 9877 | r->size[0] = static_cast<int32_T>(varargin_1[0]); |
| 9878 | r->size[1] = 1; |
| 9879 | cartes_emxEnsureCapacity_real_T(r, cartesian_trajectory_planner_B.b_k_j); |
| 9880 | cartesian_trajectory_planner_B.d_j = r->size[0] - 1; |
| 9881 | for (cartesian_trajectory_planner_B.b_k_j = 0; |
| 9882 | cartesian_trajectory_planner_B.b_k_j <= |
| 9883 | cartesian_trajectory_planner_B.d_j; cartesian_trajectory_planner_B.b_k_j |
| 9884 | ++) { |
| 9885 | r->data[cartesian_trajectory_planner_B.b_k_j] = |
| 9886 | cartesia_eml_rand_mt19937ar_ast(cartesian_trajectory_planner_DW.state_b); |
| 9887 | } |
| 9888 | } |
| 9889 | |
| 9890 | static void cartesian__eml_rand_mt19937ar_a(const uint32_T state[625], uint32_T |
| 9891 | b_state[625], real_T *r) |
| 9892 | { |
| 9893 | int32_T exitg1; |
| 9894 | memcpy(&b_state[0], &state[0], 625U * sizeof(uint32_T)); |
| 9895 | |
| 9896 | // ========================= COPYRIGHT NOTICE ============================ |
| 9897 | // This is a uniform (0,1) pseudorandom number generator based on: |
| 9898 | // |
| 9899 | // A C-program for MT19937, with initialization improved 2002/1/26. |
| 9900 | // Coded by Takuji Nishimura and Makoto Matsumoto. |
| 9901 | // |
| 9902 | // Copyright (C) 1997 - 2002, Makoto Matsumoto and Takuji Nishimura, |
| 9903 | // All rights reserved. |
| 9904 | // |
| 9905 | // Redistribution and use in source and binary forms, with or without |
| 9906 | // modification, are permitted provided that the following conditions |
| 9907 | // are met: |
| 9908 | // |
| 9909 | // 1. Redistributions of source code must retain the above copyright |
| 9910 | // notice, this list of conditions and the following disclaimer. |
| 9911 | // |
| 9912 | // 2. Redistributions in binary form must reproduce the above copyright |
| 9913 | // notice, this list of conditions and the following disclaimer |
| 9914 | // in the documentation and/or other materials provided with the |
| 9915 | // distribution. |
| 9916 | // |
| 9917 | // 3. The names of its contributors may not be used to endorse or |
| 9918 | // promote products derived from this software without specific |
| 9919 | // prior written permission. |
| 9920 | // |
| 9921 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
| 9922 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
| 9923 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
| 9924 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
| 9925 | // OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
| 9926 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
| 9927 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
| 9928 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
| 9929 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
| 9930 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
| 9931 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
| 9932 | // |
| 9933 | // ============================= END ================================= |
| 9934 | do { |
| 9935 | exitg1 = 0; |
| 9936 | cartesi_genrand_uint32_vector_a(b_state, cartesian_trajectory_planner_B.b_u); |
| 9937 | *r = (static_cast<real_T>(cartesian_trajectory_planner_B.b_u[0] >> 5U) * |
| 9938 | 6.7108864E+7 + static_cast<real_T>(cartesian_trajectory_planner_B.b_u |
| 9939 | [1] >> 6U)) * 1.1102230246251565E-16; |
| 9940 | if (*r == 0.0) { |
| 9941 | if (!cartesian_trajec_is_valid_state(b_state)) { |
| 9942 | cartesian_trajectory_planner_B.r = 5489U; |
| 9943 | b_state[0] = 5489U; |
| 9944 | for (cartesian_trajectory_planner_B.b_mti = 0; |
| 9945 | cartesian_trajectory_planner_B.b_mti < 623; |
| 9946 | cartesian_trajectory_planner_B.b_mti++) { |
| 9947 | cartesian_trajectory_planner_B.r = ((cartesian_trajectory_planner_B.r >> |
| 9948 | 30U ^ cartesian_trajectory_planner_B.r) * 1812433253U + |
| 9949 | cartesian_trajectory_planner_B.b_mti) + 1U; |
| 9950 | b_state[cartesian_trajectory_planner_B.b_mti + 1] = |
| 9951 | cartesian_trajectory_planner_B.r; |
| 9952 | } |
| 9953 | |
| 9954 | b_state[624] = 624U; |
| 9955 | } |
| 9956 | } else { |
| 9957 | exitg1 = 1; |
| 9958 | } |
| 9959 | } while (exitg1 == 0); |
| 9960 | } |
| 9961 | |
| 9962 | static void cartesian_trajectory_pla_rand_a(real_T varargin_1, |
| 9963 | emxArray_real_T_cartesian_tra_T *r) |
| 9964 | { |
| 9965 | cartesian_trajectory_planner_B.b_k_g = r->size[0]; |
| 9966 | cartesian_trajectory_planner_B.d = static_cast<int32_T>(varargin_1); |
| 9967 | r->size[0] = cartesian_trajectory_planner_B.d; |
| 9968 | cartes_emxEnsureCapacity_real_T(r, cartesian_trajectory_planner_B.b_k_g); |
| 9969 | cartesian_trajectory_planner_B.d--; |
| 9970 | for (cartesian_trajectory_planner_B.b_k_g = 0; |
| 9971 | cartesian_trajectory_planner_B.b_k_g <= cartesian_trajectory_planner_B.d; |
| 9972 | cartesian_trajectory_planner_B.b_k_g++) { |
| 9973 | memcpy(&cartesian_trajectory_planner_B.uv1[0], |
| 9974 | &cartesian_trajectory_planner_DW.state_b[0], 625U * sizeof(uint32_T)); |
| 9975 | cartesian__eml_rand_mt19937ar_a(cartesian_trajectory_planner_B.uv1, |
| 9976 | cartesian_trajectory_planner_DW.state_b, &r-> |
| 9977 | data[cartesian_trajectory_planner_B.b_k_g]); |
| 9978 | } |
| 9979 | } |
| 9980 | |
| 9981 | static void cartes_NLPSolverInterface_solve(h_robotics_core_internal_Damp_T *obj, |
| 9982 | const real_T seed[6], real_T xSol[6], real_T *solutionInfo_Iterations, real_T * |
| 9983 | solutionInfo_RRAttempts, real_T *solutionInfo_Error, real_T |
| 9984 | *solutionInfo_ExitFlag, char_T solutionInfo_Status_data[], int32_T |
| 9985 | solutionInfo_Status_size[2]) |
| 9986 | { |
| 9987 | emxArray_real_T_cartesian_tra_T *newseed; |
| 9988 | f_robotics_manip_internal_IKE_T *args; |
| 9989 | x_robotics_manip_internal_Rig_T *obj_0; |
| 9990 | emxArray_real_T_cartesian_tra_T *qi; |
| 9991 | c_rigidBodyJoint_cartesian__a_T *obj_1; |
| 9992 | emxArray_real_T_cartesian_tra_T *ub; |
| 9993 | emxArray_real_T_cartesian_tra_T *lb; |
| 9994 | emxArray_real_T_cartesian_tra_T *rn; |
| 9995 | emxArray_real_T_cartesian_tra_T *e; |
| 9996 | emxArray_boolean_T_cartesian__T *x; |
| 9997 | emxArray_boolean_T_cartesian__T *x_tmp; |
| 9998 | emxArray_boolean_T_cartesian__T *x_tmp_0; |
| 9999 | emxArray_boolean_T_cartesian__T *x_0; |
| 10000 | static const char_T tmp[14] = { 'b', 'e', 's', 't', ' ', 'a', 'v', 'a', 'i', |
| 10001 | 'l', 'a', 'b', 'l', 'e' }; |
| 10002 | |
| 10003 | static const char_T tmp_0[7] = { 's', 'u', 'c', 'c', 'e', 's', 's' }; |
| 10004 | |
| 10005 | boolean_T guard1 = false; |
| 10006 | boolean_T guard2 = false; |
| 10007 | boolean_T guard3 = false; |
| 10008 | boolean_T exitg1; |
| 10009 | boolean_T exitg2; |
| 10010 | obj->MaxNumIterationInternal = obj->MaxNumIteration; |
| 10011 | obj->MaxTimeInternal = obj->MaxTime; |
| 10012 | for (cartesian_trajectory_planner_B.i_h = 0; |
| 10013 | cartesian_trajectory_planner_B.i_h < 6; |
| 10014 | cartesian_trajectory_planner_B.i_h++) { |
| 10015 | obj->SeedInternal[cartesian_trajectory_planner_B.i_h] = |
| 10016 | seed[cartesian_trajectory_planner_B.i_h]; |
| 10017 | } |
| 10018 | |
| 10019 | cartesian_trajectory_planner_B.tol = obj->SolutionTolerance; |
| 10020 | obj->TimeObj.StartTime = ctimefun(); |
| 10021 | DampedBFGSwGradientProjection_s(obj, xSol, |
| 10022 | &cartesian_trajectory_planner_B.exitFlag, |
| 10023 | &cartesian_trajectory_planner_B.err, &cartesian_trajectory_planner_B.iter); |
| 10024 | *solutionInfo_RRAttempts = 0.0; |
| 10025 | *solutionInfo_Iterations = cartesian_trajectory_planner_B.iter; |
| 10026 | *solutionInfo_Error = cartesian_trajectory_planner_B.err; |
| 10027 | cartesian_trajectory_planner_B.exitFlagPrev = |
| 10028 | cartesian_trajectory_planner_B.exitFlag; |
| 10029 | cartesian_trajec_emxInit_real_T(&newseed, 1); |
| 10030 | cartesian_trajec_emxInit_real_T(&qi, 2); |
| 10031 | cartesian_trajec_emxInit_real_T(&ub, 1); |
| 10032 | cartesian_trajec_emxInit_real_T(&lb, 1); |
| 10033 | cartesian_trajec_emxInit_real_T(&rn, 1); |
| 10034 | cartesian_trajec_emxInit_real_T(&e, 2); |
| 10035 | cartesian_tra_emxInit_boolean_T(&x, 1); |
| 10036 | cartesian_tra_emxInit_boolean_T(&x_tmp, 1); |
| 10037 | cartesian_tra_emxInit_boolean_T(&x_tmp_0, 1); |
| 10038 | cartesian_tra_emxInit_boolean_T(&x_0, 1); |
| 10039 | exitg1 = false; |
| 10040 | while ((!exitg1) && (obj->RandomRestart && (cartesian_trajectory_planner_B.err |
| 10041 | > cartesian_trajectory_planner_B.tol))) { |
| 10042 | obj->MaxNumIterationInternal -= cartesian_trajectory_planner_B.iter; |
| 10043 | cartesian_trajectory_planner_B.err = ctimefun(); |
| 10044 | cartesian_trajectory_planner_B.err -= obj->TimeObj.StartTime; |
| 10045 | obj->MaxTimeInternal = obj->MaxTime - cartesian_trajectory_planner_B.err; |
| 10046 | if (obj->MaxNumIterationInternal <= 0.0) { |
| 10047 | cartesian_trajectory_planner_B.exitFlag = IterationLimitExceeded; |
| 10048 | } |
| 10049 | |
| 10050 | if ((cartesian_trajectory_planner_B.exitFlag == IterationLimitExceeded) || |
| 10051 | (cartesian_trajectory_planner_B.exitFlag == TimeLimitExceeded)) { |
| 10052 | cartesian_trajectory_planner_B.exitFlagPrev = |
| 10053 | cartesian_trajectory_planner_B.exitFlag; |
| 10054 | exitg1 = true; |
| 10055 | } else { |
| 10056 | args = obj->ExtraArgs; |
| 10057 | obj_0 = args->Robot; |
| 10058 | cartesian_trajectory_planner_B.ix = newseed->size[0]; |
| 10059 | newseed->size[0] = static_cast<int32_T>(obj_0->PositionNumber); |
| 10060 | cartes_emxEnsureCapacity_real_T(newseed, cartesian_trajectory_planner_B.ix); |
| 10061 | cartesian_trajectory_planner_B.nx = static_cast<int32_T> |
| 10062 | (obj_0->PositionNumber); |
| 10063 | for (cartesian_trajectory_planner_B.ix = 0; |
| 10064 | cartesian_trajectory_planner_B.ix < cartesian_trajectory_planner_B.nx; |
| 10065 | cartesian_trajectory_planner_B.ix++) { |
| 10066 | newseed->data[cartesian_trajectory_planner_B.ix] = 0.0; |
| 10067 | } |
| 10068 | |
| 10069 | cartesian_trajectory_planner_B.err = obj_0->NumBodies; |
| 10070 | cartesian_trajectory_planner_B.c_c = static_cast<int32_T> |
| 10071 | (cartesian_trajectory_planner_B.err) - 1; |
| 10072 | for (cartesian_trajectory_planner_B.i_h = 0; |
| 10073 | cartesian_trajectory_planner_B.i_h <= |
| 10074 | cartesian_trajectory_planner_B.c_c; |
| 10075 | cartesian_trajectory_planner_B.i_h++) { |
| 10076 | cartesian_trajectory_planner_B.err = obj_0-> |
| 10077 | PositionDoFMap[cartesian_trajectory_planner_B.i_h]; |
| 10078 | cartesian_trajectory_planner_B.iter = obj_0-> |
| 10079 | PositionDoFMap[cartesian_trajectory_planner_B.i_h + 8]; |
| 10080 | if (cartesian_trajectory_planner_B.err <= |
| 10081 | cartesian_trajectory_planner_B.iter) { |
| 10082 | obj_1 = obj_0->Bodies[cartesian_trajectory_planner_B.i_h] |
| 10083 | ->JointInternal; |
| 10084 | if (static_cast<int32_T>(obj_1->PositionNumber) == 0) { |
| 10085 | cartesian_trajectory_planner_B.ix = qi->size[0] * qi->size[1]; |
| 10086 | qi->size[0] = 1; |
| 10087 | qi->size[1] = 1; |
| 10088 | cartes_emxEnsureCapacity_real_T(qi, |
| 10089 | cartesian_trajectory_planner_B.ix); |
| 10090 | qi->data[0] = (rtNaN); |
| 10091 | } else { |
| 10092 | cartesian_trajectory_planner_B.nx = obj_1-> |
| 10093 | PositionLimitsInternal->size[0]; |
| 10094 | cartesian_trajectory_planner_B.ix = ub->size[0]; |
| 10095 | ub->size[0] = cartesian_trajectory_planner_B.nx; |
| 10096 | cartes_emxEnsureCapacity_real_T(ub, |
| 10097 | cartesian_trajectory_planner_B.ix); |
| 10098 | for (cartesian_trajectory_planner_B.ix = 0; |
| 10099 | cartesian_trajectory_planner_B.ix < |
| 10100 | cartesian_trajectory_planner_B.nx; |
| 10101 | cartesian_trajectory_planner_B.ix++) { |
| 10102 | ub->data[cartesian_trajectory_planner_B.ix] = |
| 10103 | obj_1->PositionLimitsInternal-> |
| 10104 | data[cartesian_trajectory_planner_B.ix + |
| 10105 | obj_1->PositionLimitsInternal->size[0]]; |
| 10106 | } |
| 10107 | |
| 10108 | cartesian_trajectory_planner_B.nx = obj_1-> |
| 10109 | PositionLimitsInternal->size[0]; |
| 10110 | cartesian_trajectory_planner_B.ix = lb->size[0]; |
| 10111 | lb->size[0] = cartesian_trajectory_planner_B.nx; |
| 10112 | cartes_emxEnsureCapacity_real_T(lb, |
| 10113 | cartesian_trajectory_planner_B.ix); |
| 10114 | for (cartesian_trajectory_planner_B.ix = 0; |
| 10115 | cartesian_trajectory_planner_B.ix < |
| 10116 | cartesian_trajectory_planner_B.nx; |
| 10117 | cartesian_trajectory_planner_B.ix++) { |
| 10118 | lb->data[cartesian_trajectory_planner_B.ix] = |
| 10119 | obj_1->PositionLimitsInternal-> |
| 10120 | data[cartesian_trajectory_planner_B.ix]; |
| 10121 | } |
| 10122 | |
| 10123 | cartesian_trajectory_p_isfinite(lb, x_tmp); |
| 10124 | cartesian_trajectory_planner_B.y_eb = true; |
| 10125 | cartesian_trajectory_planner_B.ix = 0; |
| 10126 | exitg2 = false; |
| 10127 | while ((!exitg2) && (cartesian_trajectory_planner_B.ix + 1 <= |
| 10128 | x_tmp->size[0])) { |
| 10129 | if (!x_tmp->data[cartesian_trajectory_planner_B.ix]) { |
| 10130 | cartesian_trajectory_planner_B.y_eb = false; |
| 10131 | exitg2 = true; |
| 10132 | } else { |
| 10133 | cartesian_trajectory_planner_B.ix++; |
| 10134 | } |
| 10135 | } |
| 10136 | |
| 10137 | guard1 = false; |
| 10138 | guard2 = false; |
| 10139 | guard3 = false; |
| 10140 | if (cartesian_trajectory_planner_B.y_eb) { |
| 10141 | cartesian_trajectory_p_isfinite(ub, x); |
| 10142 | cartesian_trajectory_planner_B.y_eb = true; |
| 10143 | cartesian_trajectory_planner_B.ix = 0; |
| 10144 | exitg2 = false; |
| 10145 | while ((!exitg2) && (cartesian_trajectory_planner_B.ix + 1 <= |
| 10146 | x->size[0])) { |
| 10147 | if (!x->data[cartesian_trajectory_planner_B.ix]) { |
| 10148 | cartesian_trajectory_planner_B.y_eb = false; |
| 10149 | exitg2 = true; |
| 10150 | } else { |
| 10151 | cartesian_trajectory_planner_B.ix++; |
| 10152 | } |
| 10153 | } |
| 10154 | |
| 10155 | if (cartesian_trajectory_planner_B.y_eb) { |
| 10156 | cartesian_trajectory_pla_rand_a(obj_1->PositionNumber, rn); |
| 10157 | cartesian_trajectory_planner_B.ix = qi->size[0] * qi->size[1]; |
| 10158 | qi->size[0] = lb->size[0]; |
| 10159 | qi->size[1] = 1; |
| 10160 | cartes_emxEnsureCapacity_real_T(qi, |
| 10161 | cartesian_trajectory_planner_B.ix); |
| 10162 | cartesian_trajectory_planner_B.nx = lb->size[0] - 1; |
| 10163 | for (cartesian_trajectory_planner_B.ix = 0; |
| 10164 | cartesian_trajectory_planner_B.ix <= |
| 10165 | cartesian_trajectory_planner_B.nx; |
| 10166 | cartesian_trajectory_planner_B.ix++) { |
| 10167 | qi->data[cartesian_trajectory_planner_B.ix] = (ub-> |
| 10168 | data[cartesian_trajectory_planner_B.ix] - lb-> |
| 10169 | data[cartesian_trajectory_planner_B.ix]) * rn-> |
| 10170 | data[cartesian_trajectory_planner_B.ix] + lb-> |
| 10171 | data[cartesian_trajectory_planner_B.ix]; |
| 10172 | } |
| 10173 | } else { |
| 10174 | guard3 = true; |
| 10175 | } |
| 10176 | } else { |
| 10177 | guard3 = true; |
| 10178 | } |
| 10179 | |
| 10180 | if (guard3) { |
| 10181 | cartesian_trajectory_planner_B.y_eb = true; |
| 10182 | cartesian_trajectory_planner_B.ix = 0; |
| 10183 | exitg2 = false; |
| 10184 | while ((!exitg2) && (cartesian_trajectory_planner_B.ix + 1 <= |
| 10185 | x_tmp->size[0])) { |
| 10186 | if (!x_tmp->data[cartesian_trajectory_planner_B.ix]) { |
| 10187 | cartesian_trajectory_planner_B.y_eb = false; |
| 10188 | exitg2 = true; |
| 10189 | } else { |
| 10190 | cartesian_trajectory_planner_B.ix++; |
| 10191 | } |
| 10192 | } |
| 10193 | |
| 10194 | if (cartesian_trajectory_planner_B.y_eb) { |
| 10195 | cartesian_trajectory_p_isfinite(ub, x); |
| 10196 | cartesian_trajectory_planner_B.ix = x_0->size[0]; |
| 10197 | x_0->size[0] = x->size[0]; |
| 10198 | car_emxEnsureCapacity_boolean_T(x_0, |
| 10199 | cartesian_trajectory_planner_B.ix); |
| 10200 | cartesian_trajectory_planner_B.nx = x->size[0]; |
| 10201 | for (cartesian_trajectory_planner_B.ix = 0; |
| 10202 | cartesian_trajectory_planner_B.ix < |
| 10203 | cartesian_trajectory_planner_B.nx; |
| 10204 | cartesian_trajectory_planner_B.ix++) { |
| 10205 | x_0->data[cartesian_trajectory_planner_B.ix] = !x-> |
| 10206 | data[cartesian_trajectory_planner_B.ix]; |
| 10207 | } |
| 10208 | |
| 10209 | if (cartesian_trajectory_planne_any(x_0)) { |
| 10210 | cartesian_trajectory_planner_B.ub[0] = lb->size[0]; |
| 10211 | cartesian_trajectory_planner_B.ub[1] = 1.0; |
| 10212 | cartesian_trajectory_plan_randn |
| 10213 | (cartesian_trajectory_planner_B.ub, qi); |
| 10214 | cartesian_trajectory_planner_B.nx = qi->size[0] - 1; |
| 10215 | cartesian_trajectory_planner_B.ix = e->size[0] * e->size[1]; |
| 10216 | e->size[0] = qi->size[0]; |
| 10217 | e->size[1] = 1; |
| 10218 | cartes_emxEnsureCapacity_real_T(e, |
| 10219 | cartesian_trajectory_planner_B.ix); |
| 10220 | for (cartesian_trajectory_planner_B.ix = 0; |
| 10221 | cartesian_trajectory_planner_B.ix <= |
| 10222 | cartesian_trajectory_planner_B.nx; |
| 10223 | cartesian_trajectory_planner_B.ix++) { |
| 10224 | e->data[cartesian_trajectory_planner_B.ix] = fabs(qi-> |
| 10225 | data[cartesian_trajectory_planner_B.ix]); |
| 10226 | } |
| 10227 | |
| 10228 | cartesian_trajectory_planner_B.ix = qi->size[0] * qi->size[1]; |
| 10229 | qi->size[0] = lb->size[0]; |
| 10230 | qi->size[1] = 1; |
| 10231 | cartes_emxEnsureCapacity_real_T(qi, |
| 10232 | cartesian_trajectory_planner_B.ix); |
| 10233 | cartesian_trajectory_planner_B.nx = lb->size[0] - 1; |
| 10234 | for (cartesian_trajectory_planner_B.ix = 0; |
| 10235 | cartesian_trajectory_planner_B.ix <= |
| 10236 | cartesian_trajectory_planner_B.nx; |
| 10237 | cartesian_trajectory_planner_B.ix++) { |
| 10238 | qi->data[cartesian_trajectory_planner_B.ix] = lb-> |
| 10239 | data[cartesian_trajectory_planner_B.ix] + e-> |
| 10240 | data[cartesian_trajectory_planner_B.ix]; |
| 10241 | } |
| 10242 | } else { |
| 10243 | guard2 = true; |
| 10244 | } |
| 10245 | } else { |
| 10246 | guard2 = true; |
| 10247 | } |
| 10248 | } |
| 10249 | |
| 10250 | if (guard2) { |
| 10251 | cartesian_trajectory_planner_B.ix = x_tmp_0->size[0]; |
| 10252 | x_tmp_0->size[0] = x_tmp->size[0]; |
| 10253 | car_emxEnsureCapacity_boolean_T(x_tmp_0, |
| 10254 | cartesian_trajectory_planner_B.ix); |
| 10255 | cartesian_trajectory_planner_B.nx = x_tmp->size[0]; |
| 10256 | for (cartesian_trajectory_planner_B.ix = 0; |
| 10257 | cartesian_trajectory_planner_B.ix < |
| 10258 | cartesian_trajectory_planner_B.nx; |
| 10259 | cartesian_trajectory_planner_B.ix++) { |
| 10260 | x_tmp_0->data[cartesian_trajectory_planner_B.ix] = !x_tmp-> |
| 10261 | data[cartesian_trajectory_planner_B.ix]; |
| 10262 | } |
| 10263 | |
| 10264 | if (cartesian_trajectory_planne_any(x_tmp_0)) { |
| 10265 | cartesian_trajectory_p_isfinite(ub, x); |
| 10266 | cartesian_trajectory_planner_B.y_eb = true; |
| 10267 | cartesian_trajectory_planner_B.ix = 0; |
| 10268 | exitg2 = false; |
| 10269 | while ((!exitg2) && (cartesian_trajectory_planner_B.ix + 1 <= |
| 10270 | x->size[0])) { |
| 10271 | if (!x->data[cartesian_trajectory_planner_B.ix]) { |
| 10272 | cartesian_trajectory_planner_B.y_eb = false; |
| 10273 | exitg2 = true; |
| 10274 | } else { |
| 10275 | cartesian_trajectory_planner_B.ix++; |
| 10276 | } |
| 10277 | } |
| 10278 | |
| 10279 | if (cartesian_trajectory_planner_B.y_eb) { |
| 10280 | cartesian_trajectory_planner_B.ub[0] = ub->size[0]; |
| 10281 | cartesian_trajectory_planner_B.ub[1] = 1.0; |
| 10282 | cartesian_trajectory_plan_randn |
| 10283 | (cartesian_trajectory_planner_B.ub, qi); |
| 10284 | cartesian_trajectory_planner_B.nx = qi->size[0] - 1; |
| 10285 | cartesian_trajectory_planner_B.ix = e->size[0] * e->size[1]; |
| 10286 | e->size[0] = qi->size[0]; |
| 10287 | e->size[1] = 1; |
| 10288 | cartes_emxEnsureCapacity_real_T(e, |
| 10289 | cartesian_trajectory_planner_B.ix); |
| 10290 | for (cartesian_trajectory_planner_B.ix = 0; |
| 10291 | cartesian_trajectory_planner_B.ix <= |
| 10292 | cartesian_trajectory_planner_B.nx; |
| 10293 | cartesian_trajectory_planner_B.ix++) { |
| 10294 | e->data[cartesian_trajectory_planner_B.ix] = fabs(qi-> |
| 10295 | data[cartesian_trajectory_planner_B.ix]); |
| 10296 | } |
| 10297 | |
| 10298 | cartesian_trajectory_planner_B.ix = qi->size[0] * qi->size[1]; |
| 10299 | qi->size[0] = ub->size[0]; |
| 10300 | qi->size[1] = 1; |
| 10301 | cartes_emxEnsureCapacity_real_T(qi, |
| 10302 | cartesian_trajectory_planner_B.ix); |
| 10303 | cartesian_trajectory_planner_B.nx = ub->size[0] - 1; |
| 10304 | for (cartesian_trajectory_planner_B.ix = 0; |
| 10305 | cartesian_trajectory_planner_B.ix <= |
| 10306 | cartesian_trajectory_planner_B.nx; |
| 10307 | cartesian_trajectory_planner_B.ix++) { |
| 10308 | qi->data[cartesian_trajectory_planner_B.ix] = ub-> |
| 10309 | data[cartesian_trajectory_planner_B.ix] - e-> |
| 10310 | data[cartesian_trajectory_planner_B.ix]; |
| 10311 | } |
| 10312 | } else { |
| 10313 | guard1 = true; |
| 10314 | } |
| 10315 | } else { |
| 10316 | guard1 = true; |
| 10317 | } |
| 10318 | } |
| 10319 | |
| 10320 | if (guard1) { |
| 10321 | cartesian_trajectory_planner_B.ub[0] = ub->size[0]; |
| 10322 | cartesian_trajectory_planner_B.ub[1] = 1.0; |
| 10323 | cartesian_trajectory_plan_randn(cartesian_trajectory_planner_B.ub, |
| 10324 | qi); |
| 10325 | } |
| 10326 | } |
| 10327 | |
| 10328 | if (cartesian_trajectory_planner_B.err > |
| 10329 | cartesian_trajectory_planner_B.iter) { |
| 10330 | cartesian_trajectory_planner_B.nx = 0; |
| 10331 | cartesian_trajectory_planner_B.ix = 0; |
| 10332 | } else { |
| 10333 | cartesian_trajectory_planner_B.nx = static_cast<int32_T> |
| 10334 | (cartesian_trajectory_planner_B.err) - 1; |
| 10335 | cartesian_trajectory_planner_B.ix = static_cast<int32_T> |
| 10336 | (cartesian_trajectory_planner_B.iter); |
| 10337 | } |
| 10338 | |
| 10339 | cartesian_trajectory_planner_B.unnamed_idx_1 = |
| 10340 | cartesian_trajectory_planner_B.ix - |
| 10341 | cartesian_trajectory_planner_B.nx; |
| 10342 | for (cartesian_trajectory_planner_B.ix = 0; |
| 10343 | cartesian_trajectory_planner_B.ix < |
| 10344 | cartesian_trajectory_planner_B.unnamed_idx_1; |
| 10345 | cartesian_trajectory_planner_B.ix++) { |
| 10346 | newseed->data[cartesian_trajectory_planner_B.nx + |
| 10347 | cartesian_trajectory_planner_B.ix] = qi-> |
| 10348 | data[cartesian_trajectory_planner_B.ix]; |
| 10349 | } |
| 10350 | } |
| 10351 | } |
| 10352 | |
| 10353 | for (cartesian_trajectory_planner_B.ix = 0; |
| 10354 | cartesian_trajectory_planner_B.ix < 6; |
| 10355 | cartesian_trajectory_planner_B.ix++) { |
| 10356 | obj->SeedInternal[cartesian_trajectory_planner_B.ix] = newseed-> |
| 10357 | data[cartesian_trajectory_planner_B.ix]; |
| 10358 | } |
| 10359 | |
| 10360 | DampedBFGSwGradientProjection_s(obj, cartesian_trajectory_planner_B.c_xSol, |
| 10361 | &cartesian_trajectory_planner_B.exitFlag, |
| 10362 | &cartesian_trajectory_planner_B.err, |
| 10363 | &cartesian_trajectory_planner_B.iter); |
| 10364 | if (cartesian_trajectory_planner_B.err < *solutionInfo_Error) { |
| 10365 | for (cartesian_trajectory_planner_B.i_h = 0; |
| 10366 | cartesian_trajectory_planner_B.i_h < 6; |
| 10367 | cartesian_trajectory_planner_B.i_h++) { |
| 10368 | xSol[cartesian_trajectory_planner_B.i_h] = |
| 10369 | cartesian_trajectory_planner_B.c_xSol[cartesian_trajectory_planner_B.i_h]; |
| 10370 | } |
| 10371 | |
| 10372 | *solutionInfo_Error = cartesian_trajectory_planner_B.err; |
| 10373 | cartesian_trajectory_planner_B.exitFlagPrev = |
| 10374 | cartesian_trajectory_planner_B.exitFlag; |
| 10375 | } |
| 10376 | |
| 10377 | (*solutionInfo_RRAttempts)++; |
| 10378 | *solutionInfo_Iterations += cartesian_trajectory_planner_B.iter; |
| 10379 | } |
| 10380 | } |
| 10381 | |
| 10382 | cartesian_tra_emxFree_boolean_T(&x_0); |
| 10383 | cartesian_tra_emxFree_boolean_T(&x_tmp_0); |
| 10384 | cartesian_tra_emxFree_boolean_T(&x_tmp); |
| 10385 | cartesian_tra_emxFree_boolean_T(&x); |
| 10386 | cartesian_trajec_emxFree_real_T(&e); |
| 10387 | cartesian_trajec_emxFree_real_T(&rn); |
| 10388 | cartesian_trajec_emxFree_real_T(&lb); |
| 10389 | cartesian_trajec_emxFree_real_T(&ub); |
| 10390 | cartesian_trajec_emxFree_real_T(&qi); |
| 10391 | cartesian_trajec_emxFree_real_T(&newseed); |
| 10392 | *solutionInfo_ExitFlag = cartesian_trajectory_planner_B.exitFlagPrev; |
| 10393 | if (*solutionInfo_Error < cartesian_trajectory_planner_B.tol) { |
| 10394 | solutionInfo_Status_size[0] = 1; |
| 10395 | solutionInfo_Status_size[1] = 7; |
| 10396 | for (cartesian_trajectory_planner_B.ix = 0; |
| 10397 | cartesian_trajectory_planner_B.ix < 7; |
| 10398 | cartesian_trajectory_planner_B.ix++) { |
| 10399 | solutionInfo_Status_data[cartesian_trajectory_planner_B.ix] = |
| 10400 | tmp_0[cartesian_trajectory_planner_B.ix]; |
| 10401 | } |
| 10402 | } else { |
| 10403 | solutionInfo_Status_size[0] = 1; |
| 10404 | solutionInfo_Status_size[1] = 14; |
| 10405 | for (cartesian_trajectory_planner_B.ix = 0; |
| 10406 | cartesian_trajectory_planner_B.ix < 14; |
| 10407 | cartesian_trajectory_planner_B.ix++) { |
| 10408 | solutionInfo_Status_data[cartesian_trajectory_planner_B.ix] = |
| 10409 | tmp[cartesian_trajectory_planner_B.ix]; |
| 10410 | } |
| 10411 | } |
| 10412 | } |
| 10413 | |
| 10414 | static void cart_inverseKinematics_stepImpl(b_inverseKinematics_cartesian_T *obj, |
| 10415 | const real_T tform[16], const real_T weights[6], const real_T initialGuess[6], |
| 10416 | real_T QSol[6]) |
| 10417 | { |
| 10418 | emxArray_real_T_cartesian_tra_T *bodyIndices; |
| 10419 | emxArray_real_T_cartesian_tra_T *positionIndices; |
| 10420 | x_robotics_manip_internal_Rig_T *obj_0; |
| 10421 | emxArray_char_T_cartesian_tra_T *endEffectorName; |
| 10422 | w_robotics_manip_internal_Rig_T *body; |
| 10423 | emxArray_real_T_cartesian_tra_T *positionMap; |
| 10424 | emxArray_real_T_cartesian_tra_T *e; |
| 10425 | emxArray_int32_T_cartesian_tr_T *h; |
| 10426 | emxArray_real_T_cartesian_tra_T *y; |
| 10427 | emxArray_char_T_cartesian_tra_T *bname; |
| 10428 | emxArray_real_T_cartesian_tra_T *bodyIndices_0; |
| 10429 | boolean_T exitg1; |
| 10430 | c_inverseKinematics_setPoseGoal(obj, tform, weights); |
| 10431 | for (cartesian_trajectory_planner_B.i = 0; cartesian_trajectory_planner_B.i < |
| 10432 | 6; cartesian_trajectory_planner_B.i++) { |
| 10433 | QSol[cartesian_trajectory_planner_B.i] = |
| 10434 | initialGuess[cartesian_trajectory_planner_B.i]; |
| 10435 | } |
| 10436 | |
| 10437 | cartesian_trajec_emxInit_char_T(&endEffectorName, 2); |
| 10438 | RigidBodyTree_validateConfigu_a(obj->RigidBodyTreeInternal, QSol); |
| 10439 | cartes_NLPSolverInterface_solve(obj->Solver, QSol, |
| 10440 | cartesian_trajectory_planner_B.qvSolRaw, &cartesian_trajectory_planner_B.bid, |
| 10441 | &cartesian_trajectory_planner_B.numPositions, |
| 10442 | &cartesian_trajectory_planner_B.ndbl, &cartesian_trajectory_planner_B.apnd, |
| 10443 | cartesian_trajectory_planner_B.sol_Status_data, |
| 10444 | cartesian_trajectory_planner_B.sol_Status_size); |
| 10445 | obj_0 = obj->RigidBodyTreeInternal; |
| 10446 | cartesian_trajectory_planner_B.partialTrueCount = endEffectorName->size[0] * |
| 10447 | endEffectorName->size[1]; |
| 10448 | endEffectorName->size[0] = 1; |
| 10449 | endEffectorName->size[1] = obj->Solver->ExtraArgs->BodyName->size[1]; |
| 10450 | cartes_emxEnsureCapacity_char_T(endEffectorName, |
| 10451 | cartesian_trajectory_planner_B.partialTrueCount); |
| 10452 | cartesian_trajectory_planner_B.loop_ub = obj->Solver->ExtraArgs-> |
| 10453 | BodyName->size[0] * obj->Solver->ExtraArgs->BodyName->size[1] - 1; |
| 10454 | for (cartesian_trajectory_planner_B.partialTrueCount = 0; |
| 10455 | cartesian_trajectory_planner_B.partialTrueCount <= |
| 10456 | cartesian_trajectory_planner_B.loop_ub; |
| 10457 | cartesian_trajectory_planner_B.partialTrueCount++) { |
| 10458 | endEffectorName->data[cartesian_trajectory_planner_B.partialTrueCount] = |
| 10459 | obj->Solver->ExtraArgs->BodyName-> |
| 10460 | data[cartesian_trajectory_planner_B.partialTrueCount]; |
| 10461 | } |
| 10462 | |
| 10463 | cartesian_trajec_emxInit_real_T(&bodyIndices, 1); |
| 10464 | cartesian_trajectory_planner_B.partialTrueCount = bodyIndices->size[0]; |
| 10465 | bodyIndices->size[0] = static_cast<int32_T>(obj_0->NumBodies); |
| 10466 | cartes_emxEnsureCapacity_real_T(bodyIndices, |
| 10467 | cartesian_trajectory_planner_B.partialTrueCount); |
| 10468 | cartesian_trajectory_planner_B.loop_ub = static_cast<int32_T>(obj_0->NumBodies); |
| 10469 | for (cartesian_trajectory_planner_B.partialTrueCount = 0; |
| 10470 | cartesian_trajectory_planner_B.partialTrueCount < |
| 10471 | cartesian_trajectory_planner_B.loop_ub; |
| 10472 | cartesian_trajectory_planner_B.partialTrueCount++) { |
| 10473 | bodyIndices->data[cartesian_trajectory_planner_B.partialTrueCount] = 0.0; |
| 10474 | } |
| 10475 | |
| 10476 | cartesian_trajec_emxInit_char_T(&bname, 2); |
| 10477 | cartesian_trajectory_planner_B.bid = -1.0; |
| 10478 | cartesian_trajectory_planner_B.partialTrueCount = bname->size[0] * bname-> |
| 10479 | size[1]; |
| 10480 | bname->size[0] = 1; |
| 10481 | bname->size[1] = obj_0->Base.NameInternal->size[1]; |
| 10482 | cartes_emxEnsureCapacity_char_T(bname, |
| 10483 | cartesian_trajectory_planner_B.partialTrueCount); |
| 10484 | cartesian_trajectory_planner_B.loop_ub = obj_0->Base.NameInternal->size[0] * |
| 10485 | obj_0->Base.NameInternal->size[1] - 1; |
| 10486 | for (cartesian_trajectory_planner_B.partialTrueCount = 0; |
| 10487 | cartesian_trajectory_planner_B.partialTrueCount <= |
| 10488 | cartesian_trajectory_planner_B.loop_ub; |
| 10489 | cartesian_trajectory_planner_B.partialTrueCount++) { |
| 10490 | bname->data[cartesian_trajectory_planner_B.partialTrueCount] = |
| 10491 | obj_0->Base.NameInternal-> |
| 10492 | data[cartesian_trajectory_planner_B.partialTrueCount]; |
| 10493 | } |
| 10494 | |
| 10495 | if (cartesian_trajectory_pla_strcmp(bname, endEffectorName)) { |
| 10496 | cartesian_trajectory_planner_B.bid = 0.0; |
| 10497 | } else { |
| 10498 | cartesian_trajectory_planner_B.numPositions = obj_0->NumBodies; |
| 10499 | cartesian_trajectory_planner_B.i = 0; |
| 10500 | exitg1 = false; |
| 10501 | while ((!exitg1) && (cartesian_trajectory_planner_B.i <= static_cast<int32_T> |
| 10502 | (cartesian_trajectory_planner_B.numPositions) - 1)) { |
| 10503 | body = obj_0->Bodies[cartesian_trajectory_planner_B.i]; |
| 10504 | cartesian_trajectory_planner_B.partialTrueCount = bname->size[0] * |
| 10505 | bname->size[1]; |
| 10506 | bname->size[0] = 1; |
| 10507 | bname->size[1] = body->NameInternal->size[1]; |
| 10508 | cartes_emxEnsureCapacity_char_T(bname, |
| 10509 | cartesian_trajectory_planner_B.partialTrueCount); |
| 10510 | cartesian_trajectory_planner_B.loop_ub = body->NameInternal->size[0] * |
| 10511 | body->NameInternal->size[1] - 1; |
| 10512 | for (cartesian_trajectory_planner_B.partialTrueCount = 0; |
| 10513 | cartesian_trajectory_planner_B.partialTrueCount <= |
| 10514 | cartesian_trajectory_planner_B.loop_ub; |
| 10515 | cartesian_trajectory_planner_B.partialTrueCount++) { |
| 10516 | bname->data[cartesian_trajectory_planner_B.partialTrueCount] = |
| 10517 | body->NameInternal-> |
| 10518 | data[cartesian_trajectory_planner_B.partialTrueCount]; |
| 10519 | } |
| 10520 | |
| 10521 | if (cartesian_trajectory_pla_strcmp(bname, endEffectorName)) { |
| 10522 | cartesian_trajectory_planner_B.bid = static_cast<real_T> |
| 10523 | (cartesian_trajectory_planner_B.i) + 1.0; |
| 10524 | exitg1 = true; |
| 10525 | } else { |
| 10526 | cartesian_trajectory_planner_B.i++; |
| 10527 | } |
| 10528 | } |
| 10529 | } |
| 10530 | |
| 10531 | cartesian_trajec_emxFree_char_T(&bname); |
| 10532 | cartesian_trajec_emxFree_char_T(&endEffectorName); |
| 10533 | if (cartesian_trajectory_planner_B.bid == 0.0) { |
| 10534 | cartesian_trajectory_planner_B.partialTrueCount = bodyIndices->size[0]; |
| 10535 | bodyIndices->size[0] = 1; |
| 10536 | cartes_emxEnsureCapacity_real_T(bodyIndices, |
| 10537 | cartesian_trajectory_planner_B.partialTrueCount); |
| 10538 | bodyIndices->data[0] = 0.0; |
| 10539 | } else { |
| 10540 | body = obj_0->Bodies[static_cast<int32_T>(cartesian_trajectory_planner_B.bid) |
| 10541 | - 1]; |
| 10542 | cartesian_trajectory_planner_B.bid = 1.0; |
| 10543 | while (body->ParentIndex != 0.0) { |
| 10544 | bodyIndices->data[static_cast<int32_T>(cartesian_trajectory_planner_B.bid) |
| 10545 | - 1] = body->Index; |
| 10546 | body = obj_0->Bodies[static_cast<int32_T>(body->ParentIndex) - 1]; |
| 10547 | cartesian_trajectory_planner_B.bid++; |
| 10548 | } |
| 10549 | |
| 10550 | if (1.0 > cartesian_trajectory_planner_B.bid - 1.0) { |
| 10551 | cartesian_trajectory_planner_B.c_k = -1; |
| 10552 | } else { |
| 10553 | cartesian_trajectory_planner_B.c_k = static_cast<int32_T> |
| 10554 | (cartesian_trajectory_planner_B.bid - 1.0) - 1; |
| 10555 | } |
| 10556 | |
| 10557 | cartesian_trajec_emxInit_real_T(&bodyIndices_0, 1); |
| 10558 | cartesian_trajectory_planner_B.partialTrueCount = bodyIndices_0->size[0]; |
| 10559 | bodyIndices_0->size[0] = cartesian_trajectory_planner_B.c_k + 3; |
| 10560 | cartes_emxEnsureCapacity_real_T(bodyIndices_0, |
| 10561 | cartesian_trajectory_planner_B.partialTrueCount); |
| 10562 | for (cartesian_trajectory_planner_B.partialTrueCount = 0; |
| 10563 | cartesian_trajectory_planner_B.partialTrueCount <= |
| 10564 | cartesian_trajectory_planner_B.c_k; |
| 10565 | cartesian_trajectory_planner_B.partialTrueCount++) { |
| 10566 | bodyIndices_0->data[cartesian_trajectory_planner_B.partialTrueCount] = |
| 10567 | bodyIndices->data[cartesian_trajectory_planner_B.partialTrueCount]; |
| 10568 | } |
| 10569 | |
| 10570 | bodyIndices_0->data[cartesian_trajectory_planner_B.c_k + 1] = body->Index; |
| 10571 | bodyIndices_0->data[cartesian_trajectory_planner_B.c_k + 2] = 0.0; |
| 10572 | cartesian_trajectory_planner_B.partialTrueCount = bodyIndices->size[0]; |
| 10573 | bodyIndices->size[0] = bodyIndices_0->size[0]; |
| 10574 | cartes_emxEnsureCapacity_real_T(bodyIndices, |
| 10575 | cartesian_trajectory_planner_B.partialTrueCount); |
| 10576 | cartesian_trajectory_planner_B.loop_ub = bodyIndices_0->size[0]; |
| 10577 | for (cartesian_trajectory_planner_B.partialTrueCount = 0; |
| 10578 | cartesian_trajectory_planner_B.partialTrueCount < |
| 10579 | cartesian_trajectory_planner_B.loop_ub; |
| 10580 | cartesian_trajectory_planner_B.partialTrueCount++) { |
| 10581 | bodyIndices->data[cartesian_trajectory_planner_B.partialTrueCount] = |
| 10582 | bodyIndices_0->data[cartesian_trajectory_planner_B.partialTrueCount]; |
| 10583 | } |
| 10584 | |
| 10585 | cartesian_trajec_emxFree_real_T(&bodyIndices_0); |
| 10586 | } |
| 10587 | |
| 10588 | obj_0 = obj->RigidBodyTreeInternal; |
| 10589 | cartesian_trajectory_planner_B.c_k = bodyIndices->size[0] - 1; |
| 10590 | cartesian_trajectory_planner_B.loop_ub = 0; |
| 10591 | for (cartesian_trajectory_planner_B.i = 0; cartesian_trajectory_planner_B.i <= |
| 10592 | cartesian_trajectory_planner_B.c_k; cartesian_trajectory_planner_B.i++) { |
| 10593 | if (bodyIndices->data[cartesian_trajectory_planner_B.i] != 0.0) { |
| 10594 | cartesian_trajectory_planner_B.loop_ub++; |
| 10595 | } |
| 10596 | } |
| 10597 | |
| 10598 | cartesian_traje_emxInit_int32_T(&h, 1); |
| 10599 | cartesian_trajectory_planner_B.partialTrueCount = h->size[0]; |
| 10600 | h->size[0] = cartesian_trajectory_planner_B.loop_ub; |
| 10601 | carte_emxEnsureCapacity_int32_T(h, |
| 10602 | cartesian_trajectory_planner_B.partialTrueCount); |
| 10603 | cartesian_trajectory_planner_B.partialTrueCount = 0; |
| 10604 | for (cartesian_trajectory_planner_B.i = 0; cartesian_trajectory_planner_B.i <= |
| 10605 | cartesian_trajectory_planner_B.c_k; cartesian_trajectory_planner_B.i++) { |
| 10606 | if (bodyIndices->data[cartesian_trajectory_planner_B.i] != 0.0) { |
| 10607 | h->data[cartesian_trajectory_planner_B.partialTrueCount] = |
| 10608 | cartesian_trajectory_planner_B.i + 1; |
| 10609 | cartesian_trajectory_planner_B.partialTrueCount++; |
| 10610 | } |
| 10611 | } |
| 10612 | |
| 10613 | cartesian_trajec_emxInit_real_T(&positionMap, 2); |
| 10614 | cartesian_trajectory_planner_B.partialTrueCount = positionMap->size[0] * |
| 10615 | positionMap->size[1]; |
| 10616 | positionMap->size[0] = h->size[0]; |
| 10617 | positionMap->size[1] = 2; |
| 10618 | cartes_emxEnsureCapacity_real_T(positionMap, |
| 10619 | cartesian_trajectory_planner_B.partialTrueCount); |
| 10620 | cartesian_trajectory_planner_B.loop_ub = h->size[0]; |
| 10621 | for (cartesian_trajectory_planner_B.partialTrueCount = 0; |
| 10622 | cartesian_trajectory_planner_B.partialTrueCount < |
| 10623 | cartesian_trajectory_planner_B.loop_ub; |
| 10624 | cartesian_trajectory_planner_B.partialTrueCount++) { |
| 10625 | positionMap->data[cartesian_trajectory_planner_B.partialTrueCount] = |
| 10626 | obj_0->PositionDoFMap[static_cast<int32_T>(bodyIndices->data[h-> |
| 10627 | data[cartesian_trajectory_planner_B.partialTrueCount] - 1]) - 1]; |
| 10628 | } |
| 10629 | |
| 10630 | cartesian_trajectory_planner_B.loop_ub = h->size[0]; |
| 10631 | for (cartesian_trajectory_planner_B.partialTrueCount = 0; |
| 10632 | cartesian_trajectory_planner_B.partialTrueCount < |
| 10633 | cartesian_trajectory_planner_B.loop_ub; |
| 10634 | cartesian_trajectory_planner_B.partialTrueCount++) { |
| 10635 | positionMap->data[cartesian_trajectory_planner_B.partialTrueCount + |
| 10636 | positionMap->size[0]] = obj_0->PositionDoFMap[static_cast<int32_T> |
| 10637 | (bodyIndices->data[h->data[cartesian_trajectory_planner_B.partialTrueCount] |
| 10638 | - 1]) + 7]; |
| 10639 | } |
| 10640 | |
| 10641 | cartesian_traje_emxFree_int32_T(&h); |
| 10642 | cartesian_trajec_emxFree_real_T(&bodyIndices); |
| 10643 | cartesian_trajec_emxInit_real_T(&positionIndices, 2); |
| 10644 | cartesian_trajectory_planner_B.partialTrueCount = positionIndices->size[0] * |
| 10645 | positionIndices->size[1]; |
| 10646 | positionIndices->size[0] = 1; |
| 10647 | positionIndices->size[1] = static_cast<int32_T>(obj_0->PositionNumber); |
| 10648 | cartes_emxEnsureCapacity_real_T(positionIndices, |
| 10649 | cartesian_trajectory_planner_B.partialTrueCount); |
| 10650 | cartesian_trajectory_planner_B.loop_ub = static_cast<int32_T> |
| 10651 | (obj_0->PositionNumber) - 1; |
| 10652 | for (cartesian_trajectory_planner_B.partialTrueCount = 0; |
| 10653 | cartesian_trajectory_planner_B.partialTrueCount <= |
| 10654 | cartesian_trajectory_planner_B.loop_ub; |
| 10655 | cartesian_trajectory_planner_B.partialTrueCount++) { |
| 10656 | positionIndices->data[cartesian_trajectory_planner_B.partialTrueCount] = 0.0; |
| 10657 | } |
| 10658 | |
| 10659 | cartesian_trajectory_planner_B.bid = 0.0; |
| 10660 | cartesian_trajectory_planner_B.c_k = positionMap->size[0] - 1; |
| 10661 | cartesian_trajec_emxInit_real_T(&e, 2); |
| 10662 | cartesian_trajec_emxInit_real_T(&y, 2); |
| 10663 | for (cartesian_trajectory_planner_B.i = 0; cartesian_trajectory_planner_B.i <= |
| 10664 | cartesian_trajectory_planner_B.c_k; cartesian_trajectory_planner_B.i++) { |
| 10665 | cartesian_trajectory_planner_B.numPositions = (positionMap-> |
| 10666 | data[cartesian_trajectory_planner_B.i + positionMap->size[0]] - |
| 10667 | positionMap->data[cartesian_trajectory_planner_B.i]) + 1.0; |
| 10668 | if (cartesian_trajectory_planner_B.numPositions > 0.0) { |
| 10669 | if (cartesian_trajectory_planner_B.numPositions < 1.0) { |
| 10670 | y->size[0] = 1; |
| 10671 | y->size[1] = 0; |
| 10672 | } else if (rtIsInf(cartesian_trajectory_planner_B.numPositions) && (1.0 == |
| 10673 | cartesian_trajectory_planner_B.numPositions)) { |
| 10674 | cartesian_trajectory_planner_B.partialTrueCount = y->size[0] * y->size[1]; |
| 10675 | y->size[0] = 1; |
| 10676 | y->size[1] = 1; |
| 10677 | cartes_emxEnsureCapacity_real_T(y, |
| 10678 | cartesian_trajectory_planner_B.partialTrueCount); |
| 10679 | y->data[0] = (rtNaN); |
| 10680 | } else { |
| 10681 | cartesian_trajectory_planner_B.partialTrueCount = y->size[0] * y->size[1]; |
| 10682 | y->size[0] = 1; |
| 10683 | cartesian_trajectory_planner_B.loop_ub = static_cast<int32_T>(floor |
| 10684 | (cartesian_trajectory_planner_B.numPositions - 1.0)); |
| 10685 | y->size[1] = cartesian_trajectory_planner_B.loop_ub + 1; |
| 10686 | cartes_emxEnsureCapacity_real_T(y, |
| 10687 | cartesian_trajectory_planner_B.partialTrueCount); |
| 10688 | for (cartesian_trajectory_planner_B.partialTrueCount = 0; |
| 10689 | cartesian_trajectory_planner_B.partialTrueCount <= |
| 10690 | cartesian_trajectory_planner_B.loop_ub; |
| 10691 | cartesian_trajectory_planner_B.partialTrueCount++) { |
| 10692 | y->data[cartesian_trajectory_planner_B.partialTrueCount] = |
| 10693 | static_cast<real_T>(cartesian_trajectory_planner_B.partialTrueCount) |
| 10694 | + 1.0; |
| 10695 | } |
| 10696 | } |
| 10697 | |
| 10698 | if (rtIsNaN(positionMap->data[cartesian_trajectory_planner_B.i]) || |
| 10699 | rtIsNaN(positionMap->data[cartesian_trajectory_planner_B.i + |
| 10700 | positionMap->size[0]])) { |
| 10701 | cartesian_trajectory_planner_B.partialTrueCount = e->size[0] * e->size[1]; |
| 10702 | e->size[0] = 1; |
| 10703 | e->size[1] = 1; |
| 10704 | cartes_emxEnsureCapacity_real_T(e, |
| 10705 | cartesian_trajectory_planner_B.partialTrueCount); |
| 10706 | e->data[0] = (rtNaN); |
| 10707 | } else if (positionMap->data[cartesian_trajectory_planner_B.i + |
| 10708 | positionMap->size[0]] < positionMap-> |
| 10709 | data[cartesian_trajectory_planner_B.i]) { |
| 10710 | e->size[0] = 1; |
| 10711 | e->size[1] = 0; |
| 10712 | } else if ((rtIsInf(positionMap->data[cartesian_trajectory_planner_B.i]) || |
| 10713 | rtIsInf(positionMap->data[cartesian_trajectory_planner_B.i + |
| 10714 | positionMap->size[0]])) && (positionMap-> |
| 10715 | data[cartesian_trajectory_planner_B.i + positionMap->size[0]] == |
| 10716 | positionMap->data[cartesian_trajectory_planner_B.i])) { |
| 10717 | cartesian_trajectory_planner_B.partialTrueCount = e->size[0] * e->size[1]; |
| 10718 | e->size[0] = 1; |
| 10719 | e->size[1] = 1; |
| 10720 | cartes_emxEnsureCapacity_real_T(e, |
| 10721 | cartesian_trajectory_planner_B.partialTrueCount); |
| 10722 | e->data[0] = (rtNaN); |
| 10723 | } else if (floor(positionMap->data[cartesian_trajectory_planner_B.i]) == |
| 10724 | positionMap->data[cartesian_trajectory_planner_B.i]) { |
| 10725 | cartesian_trajectory_planner_B.partialTrueCount = e->size[0] * e->size[1]; |
| 10726 | e->size[0] = 1; |
| 10727 | e->size[1] = static_cast<int32_T>(floor(positionMap-> |
| 10728 | data[cartesian_trajectory_planner_B.i + positionMap->size[0]] - |
| 10729 | positionMap->data[cartesian_trajectory_planner_B.i])) + 1; |
| 10730 | cartes_emxEnsureCapacity_real_T(e, |
| 10731 | cartesian_trajectory_planner_B.partialTrueCount); |
| 10732 | cartesian_trajectory_planner_B.loop_ub = static_cast<int32_T>(floor |
| 10733 | (positionMap->data[cartesian_trajectory_planner_B.i + |
| 10734 | positionMap->size[0]] - positionMap-> |
| 10735 | data[cartesian_trajectory_planner_B.i])); |
| 10736 | for (cartesian_trajectory_planner_B.partialTrueCount = 0; |
| 10737 | cartesian_trajectory_planner_B.partialTrueCount <= |
| 10738 | cartesian_trajectory_planner_B.loop_ub; |
| 10739 | cartesian_trajectory_planner_B.partialTrueCount++) { |
| 10740 | e->data[cartesian_trajectory_planner_B.partialTrueCount] = |
| 10741 | positionMap->data[cartesian_trajectory_planner_B.i] + |
| 10742 | static_cast<real_T>(cartesian_trajectory_planner_B.partialTrueCount); |
| 10743 | } |
| 10744 | } else { |
| 10745 | cartesian_trajectory_planner_B.ndbl = floor((positionMap-> |
| 10746 | data[cartesian_trajectory_planner_B.i + positionMap->size[0]] - |
| 10747 | positionMap->data[cartesian_trajectory_planner_B.i]) + 0.5); |
| 10748 | cartesian_trajectory_planner_B.apnd = positionMap-> |
| 10749 | data[cartesian_trajectory_planner_B.i] + |
| 10750 | cartesian_trajectory_planner_B.ndbl; |
| 10751 | cartesian_trajectory_planner_B.cdiff = |
| 10752 | cartesian_trajectory_planner_B.apnd - positionMap-> |
| 10753 | data[cartesian_trajectory_planner_B.i + positionMap->size[0]]; |
| 10754 | cartesian_trajectory_planner_B.u0 = fabs(positionMap-> |
| 10755 | data[cartesian_trajectory_planner_B.i]); |
| 10756 | cartesian_trajectory_planner_B.u1 = fabs(positionMap-> |
| 10757 | data[cartesian_trajectory_planner_B.i + positionMap->size[0]]); |
| 10758 | if ((cartesian_trajectory_planner_B.u0 > |
| 10759 | cartesian_trajectory_planner_B.u1) || rtIsNaN |
| 10760 | (cartesian_trajectory_planner_B.u1)) { |
| 10761 | cartesian_trajectory_planner_B.u1 = cartesian_trajectory_planner_B.u0; |
| 10762 | } |
| 10763 | |
| 10764 | if (fabs(cartesian_trajectory_planner_B.cdiff) < 4.4408920985006262E-16 * |
| 10765 | cartesian_trajectory_planner_B.u1) { |
| 10766 | cartesian_trajectory_planner_B.ndbl++; |
| 10767 | cartesian_trajectory_planner_B.apnd = positionMap-> |
| 10768 | data[cartesian_trajectory_planner_B.i + positionMap->size[0]]; |
| 10769 | } else if (cartesian_trajectory_planner_B.cdiff > 0.0) { |
| 10770 | cartesian_trajectory_planner_B.apnd = |
| 10771 | (cartesian_trajectory_planner_B.ndbl - 1.0) + positionMap-> |
| 10772 | data[cartesian_trajectory_planner_B.i]; |
| 10773 | } else { |
| 10774 | cartesian_trajectory_planner_B.ndbl++; |
| 10775 | } |
| 10776 | |
| 10777 | if (cartesian_trajectory_planner_B.ndbl >= 0.0) { |
| 10778 | cartesian_trajectory_planner_B.partialTrueCount = static_cast<int32_T> |
| 10779 | (cartesian_trajectory_planner_B.ndbl); |
| 10780 | } else { |
| 10781 | cartesian_trajectory_planner_B.partialTrueCount = 0; |
| 10782 | } |
| 10783 | |
| 10784 | cartesian_trajectory_planner_B.loop_ub = |
| 10785 | cartesian_trajectory_planner_B.partialTrueCount - 1; |
| 10786 | cartesian_trajectory_planner_B.partialTrueCount = e->size[0] * e->size[1]; |
| 10787 | e->size[0] = 1; |
| 10788 | e->size[1] = cartesian_trajectory_planner_B.loop_ub + 1; |
| 10789 | cartes_emxEnsureCapacity_real_T(e, |
| 10790 | cartesian_trajectory_planner_B.partialTrueCount); |
| 10791 | if (cartesian_trajectory_planner_B.loop_ub + 1 > 0) { |
| 10792 | e->data[0] = positionMap->data[cartesian_trajectory_planner_B.i]; |
| 10793 | if (cartesian_trajectory_planner_B.loop_ub + 1 > 1) { |
| 10794 | e->data[cartesian_trajectory_planner_B.loop_ub] = |
| 10795 | cartesian_trajectory_planner_B.apnd; |
| 10796 | cartesian_trajectory_planner_B.nm1d2 = |
| 10797 | ((cartesian_trajectory_planner_B.loop_ub < 0) + |
| 10798 | cartesian_trajectory_planner_B.loop_ub) >> 1; |
| 10799 | cartesian_trajectory_planner_B.c_o = |
| 10800 | cartesian_trajectory_planner_B.nm1d2 - 2; |
| 10801 | for (cartesian_trajectory_planner_B.partialTrueCount = 0; |
| 10802 | cartesian_trajectory_planner_B.partialTrueCount <= |
| 10803 | cartesian_trajectory_planner_B.c_o; |
| 10804 | cartesian_trajectory_planner_B.partialTrueCount++) { |
| 10805 | cartesian_trajectory_planner_B.k_j = |
| 10806 | cartesian_trajectory_planner_B.partialTrueCount + 1; |
| 10807 | e->data[cartesian_trajectory_planner_B.k_j] = positionMap-> |
| 10808 | data[cartesian_trajectory_planner_B.i] + static_cast<real_T> |
| 10809 | (cartesian_trajectory_planner_B.k_j); |
| 10810 | e->data[cartesian_trajectory_planner_B.loop_ub - |
| 10811 | cartesian_trajectory_planner_B.k_j] = |
| 10812 | cartesian_trajectory_planner_B.apnd - static_cast<real_T> |
| 10813 | (cartesian_trajectory_planner_B.k_j); |
| 10814 | } |
| 10815 | |
| 10816 | if (cartesian_trajectory_planner_B.nm1d2 << 1 == |
| 10817 | cartesian_trajectory_planner_B.loop_ub) { |
| 10818 | e->data[cartesian_trajectory_planner_B.nm1d2] = (positionMap-> |
| 10819 | data[cartesian_trajectory_planner_B.i] + |
| 10820 | cartesian_trajectory_planner_B.apnd) / 2.0; |
| 10821 | } else { |
| 10822 | e->data[cartesian_trajectory_planner_B.nm1d2] = positionMap-> |
| 10823 | data[cartesian_trajectory_planner_B.i] + static_cast<real_T> |
| 10824 | (cartesian_trajectory_planner_B.nm1d2); |
| 10825 | e->data[cartesian_trajectory_planner_B.nm1d2 + 1] = |
| 10826 | cartesian_trajectory_planner_B.apnd - static_cast<real_T> |
| 10827 | (cartesian_trajectory_planner_B.nm1d2); |
| 10828 | } |
| 10829 | } |
| 10830 | } |
| 10831 | } |
| 10832 | |
| 10833 | cartesian_trajectory_planner_B.partialTrueCount = e->size[0] * e->size[1]; |
| 10834 | cartesian_trajectory_planner_B.loop_ub = |
| 10835 | cartesian_trajectory_planner_B.partialTrueCount - 1; |
| 10836 | for (cartesian_trajectory_planner_B.partialTrueCount = 0; |
| 10837 | cartesian_trajectory_planner_B.partialTrueCount <= |
| 10838 | cartesian_trajectory_planner_B.loop_ub; |
| 10839 | cartesian_trajectory_planner_B.partialTrueCount++) { |
| 10840 | positionIndices->data[static_cast<int32_T> |
| 10841 | (cartesian_trajectory_planner_B.bid + y-> |
| 10842 | data[cartesian_trajectory_planner_B.partialTrueCount]) - 1] = e-> |
| 10843 | data[cartesian_trajectory_planner_B.partialTrueCount]; |
| 10844 | } |
| 10845 | |
| 10846 | cartesian_trajectory_planner_B.bid += |
| 10847 | cartesian_trajectory_planner_B.numPositions; |
| 10848 | } |
| 10849 | } |
| 10850 | |
| 10851 | cartesian_trajec_emxFree_real_T(&y); |
| 10852 | cartesian_trajec_emxFree_real_T(&e); |
| 10853 | cartesian_trajec_emxFree_real_T(&positionMap); |
| 10854 | if (1.0 > cartesian_trajectory_planner_B.bid) { |
| 10855 | positionIndices->size[1] = 0; |
| 10856 | } else { |
| 10857 | cartesian_trajectory_planner_B.partialTrueCount = positionIndices->size[0] * |
| 10858 | positionIndices->size[1]; |
| 10859 | positionIndices->size[1] = static_cast<int32_T> |
| 10860 | (cartesian_trajectory_planner_B.bid); |
| 10861 | cartes_emxEnsureCapacity_real_T(positionIndices, |
| 10862 | cartesian_trajectory_planner_B.partialTrueCount); |
| 10863 | } |
| 10864 | |
| 10865 | cartesian_trajectory_planner_B.loop_ub = positionIndices->size[0] * |
| 10866 | positionIndices->size[1]; |
| 10867 | for (cartesian_trajectory_planner_B.partialTrueCount = 0; |
| 10868 | cartesian_trajectory_planner_B.partialTrueCount < |
| 10869 | cartesian_trajectory_planner_B.loop_ub; |
| 10870 | cartesian_trajectory_planner_B.partialTrueCount++) { |
| 10871 | QSol[static_cast<int32_T>(positionIndices-> |
| 10872 | data[cartesian_trajectory_planner_B.partialTrueCount]) - 1] = |
| 10873 | cartesian_trajectory_planner_B.qvSolRaw[static_cast<int32_T> |
| 10874 | (positionIndices->data[cartesian_trajectory_planner_B.partialTrueCount]) - |
| 10875 | 1]; |
| 10876 | } |
| 10877 | |
| 10878 | cartesian_trajec_emxFree_real_T(&positionIndices); |
| 10879 | } |
| 10880 | |
| 10881 | static void cartesian_t_emxInit_f_cell_wrap(emxArray_f_cell_wrap_cartesia_T |
| 10882 | **pEmxArray, int32_T numDimensions) |
| 10883 | { |
| 10884 | emxArray_f_cell_wrap_cartesia_T *emxArray; |
| 10885 | int32_T i; |
| 10886 | *pEmxArray = (emxArray_f_cell_wrap_cartesia_T *)malloc(sizeof |
| 10887 | (emxArray_f_cell_wrap_cartesia_T)); |
| 10888 | emxArray = *pEmxArray; |
| 10889 | emxArray->data = (f_cell_wrap_cartesian_traject_T *)NULL; |
| 10890 | emxArray->numDimensions = numDimensions; |
| 10891 | emxArray->size = (int32_T *)malloc(sizeof(int32_T) * numDimensions); |
| 10892 | emxArray->allocatedSize = 0; |
| 10893 | emxArray->canFreeData = true; |
| 10894 | for (i = 0; i < numDimensions; i++) { |
| 10895 | emxArray->size[i] = 0; |
| 10896 | } |
| 10897 | } |
| 10898 | |
| 10899 | static void c_emxEnsureCapacity_f_cell_wrap(emxArray_f_cell_wrap_cartesia_T |
| 10900 | *emxArray, int32_T oldNumel) |
| 10901 | { |
| 10902 | int32_T newNumel; |
| 10903 | int32_T i; |
| 10904 | void *newData; |
| 10905 | if (oldNumel < 0) { |
| 10906 | oldNumel = 0; |
| 10907 | } |
| 10908 | |
| 10909 | newNumel = 1; |
| 10910 | for (i = 0; i < emxArray->numDimensions; i++) { |
| 10911 | newNumel *= emxArray->size[i]; |
| 10912 | } |
| 10913 | |
| 10914 | if (newNumel > emxArray->allocatedSize) { |
| 10915 | i = emxArray->allocatedSize; |
| 10916 | if (i < 16) { |
| 10917 | i = 16; |
| 10918 | } |
| 10919 | |
| 10920 | while (i < newNumel) { |
| 10921 | if (i > 1073741823) { |
| 10922 | i = MAX_int32_T; |
| 10923 | } else { |
| 10924 | i <<= 1; |
| 10925 | } |
| 10926 | } |
| 10927 | |
| 10928 | newData = calloc(static_cast<uint32_T>(i), sizeof |
| 10929 | (f_cell_wrap_cartesian_traject_T)); |
| 10930 | if (emxArray->data != NULL) { |
| 10931 | memcpy(newData, emxArray->data, sizeof(f_cell_wrap_cartesian_traject_T) |
| 10932 | * oldNumel); |
| 10933 | if (emxArray->canFreeData) { |
| 10934 | free(emxArray->data); |
| 10935 | } |
| 10936 | } |
| 10937 | |
| 10938 | emxArray->data = (f_cell_wrap_cartesian_traject_T *)newData; |
| 10939 | emxArray->allocatedSize = i; |
| 10940 | emxArray->canFreeData = true; |
| 10941 | } |
| 10942 | } |
| 10943 | |
| 10944 | static void ca_rigidBodyJoint_get_JointAxis(const |
| 10945 | c_rigidBodyJoint_cartesian_tr_T *obj, real_T ax[3]) |
| 10946 | { |
| 10947 | emxArray_char_T_cartesian_tra_T *a; |
| 10948 | static const char_T tmp[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 10949 | |
| 10950 | static const char_T tmp_0[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 10951 | |
| 10952 | boolean_T guard1 = false; |
| 10953 | int32_T exitg1; |
| 10954 | cartesian_trajec_emxInit_char_T(&a, 2); |
| 10955 | cartesian_trajectory_planner_B.b_kstr_j = a->size[0] * a->size[1]; |
| 10956 | a->size[0] = 1; |
| 10957 | a->size[1] = obj->Type->size[1]; |
| 10958 | cartes_emxEnsureCapacity_char_T(a, cartesian_trajectory_planner_B.b_kstr_j); |
| 10959 | cartesian_trajectory_planner_B.loop_ub_o4 = obj->Type->size[0] * obj-> |
| 10960 | Type->size[1] - 1; |
| 10961 | for (cartesian_trajectory_planner_B.b_kstr_j = 0; |
| 10962 | cartesian_trajectory_planner_B.b_kstr_j <= |
| 10963 | cartesian_trajectory_planner_B.loop_ub_o4; |
| 10964 | cartesian_trajectory_planner_B.b_kstr_j++) { |
| 10965 | a->data[cartesian_trajectory_planner_B.b_kstr_j] = obj->Type-> |
| 10966 | data[cartesian_trajectory_planner_B.b_kstr_j]; |
| 10967 | } |
| 10968 | |
| 10969 | for (cartesian_trajectory_planner_B.b_kstr_j = 0; |
| 10970 | cartesian_trajectory_planner_B.b_kstr_j < 8; |
| 10971 | cartesian_trajectory_planner_B.b_kstr_j++) { |
| 10972 | cartesian_trajectory_planner_B.b_n3[cartesian_trajectory_planner_B.b_kstr_j] |
| 10973 | = tmp[cartesian_trajectory_planner_B.b_kstr_j]; |
| 10974 | } |
| 10975 | |
| 10976 | cartesian_trajectory_planner_B.b_bool_nh = false; |
| 10977 | if (a->size[1] == 8) { |
| 10978 | cartesian_trajectory_planner_B.b_kstr_j = 1; |
| 10979 | do { |
| 10980 | exitg1 = 0; |
| 10981 | if (cartesian_trajectory_planner_B.b_kstr_j - 1 < 8) { |
| 10982 | cartesian_trajectory_planner_B.loop_ub_o4 = |
| 10983 | cartesian_trajectory_planner_B.b_kstr_j - 1; |
| 10984 | if (a->data[cartesian_trajectory_planner_B.loop_ub_o4] != |
| 10985 | cartesian_trajectory_planner_B.b_n3[cartesian_trajectory_planner_B.loop_ub_o4]) |
| 10986 | { |
| 10987 | exitg1 = 1; |
| 10988 | } else { |
| 10989 | cartesian_trajectory_planner_B.b_kstr_j++; |
| 10990 | } |
| 10991 | } else { |
| 10992 | cartesian_trajectory_planner_B.b_bool_nh = true; |
| 10993 | exitg1 = 1; |
| 10994 | } |
| 10995 | } while (exitg1 == 0); |
| 10996 | } |
| 10997 | |
| 10998 | guard1 = false; |
| 10999 | if (cartesian_trajectory_planner_B.b_bool_nh) { |
| 11000 | guard1 = true; |
| 11001 | } else { |
| 11002 | cartesian_trajectory_planner_B.b_kstr_j = a->size[0] * a->size[1]; |
| 11003 | a->size[0] = 1; |
| 11004 | a->size[1] = obj->Type->size[1]; |
| 11005 | cartes_emxEnsureCapacity_char_T(a, cartesian_trajectory_planner_B.b_kstr_j); |
| 11006 | cartesian_trajectory_planner_B.loop_ub_o4 = obj->Type->size[0] * obj-> |
| 11007 | Type->size[1] - 1; |
| 11008 | for (cartesian_trajectory_planner_B.b_kstr_j = 0; |
| 11009 | cartesian_trajectory_planner_B.b_kstr_j <= |
| 11010 | cartesian_trajectory_planner_B.loop_ub_o4; |
| 11011 | cartesian_trajectory_planner_B.b_kstr_j++) { |
| 11012 | a->data[cartesian_trajectory_planner_B.b_kstr_j] = obj->Type-> |
| 11013 | data[cartesian_trajectory_planner_B.b_kstr_j]; |
| 11014 | } |
| 11015 | |
| 11016 | for (cartesian_trajectory_planner_B.b_kstr_j = 0; |
| 11017 | cartesian_trajectory_planner_B.b_kstr_j < 9; |
| 11018 | cartesian_trajectory_planner_B.b_kstr_j++) { |
| 11019 | cartesian_trajectory_planner_B.b_n[cartesian_trajectory_planner_B.b_kstr_j] |
| 11020 | = tmp_0[cartesian_trajectory_planner_B.b_kstr_j]; |
| 11021 | } |
| 11022 | |
| 11023 | cartesian_trajectory_planner_B.b_bool_nh = false; |
| 11024 | if (a->size[1] == 9) { |
| 11025 | cartesian_trajectory_planner_B.b_kstr_j = 1; |
| 11026 | do { |
| 11027 | exitg1 = 0; |
| 11028 | if (cartesian_trajectory_planner_B.b_kstr_j - 1 < 9) { |
| 11029 | cartesian_trajectory_planner_B.loop_ub_o4 = |
| 11030 | cartesian_trajectory_planner_B.b_kstr_j - 1; |
| 11031 | if (a->data[cartesian_trajectory_planner_B.loop_ub_o4] != |
| 11032 | cartesian_trajectory_planner_B.b_n[cartesian_trajectory_planner_B.loop_ub_o4]) |
| 11033 | { |
| 11034 | exitg1 = 1; |
| 11035 | } else { |
| 11036 | cartesian_trajectory_planner_B.b_kstr_j++; |
| 11037 | } |
| 11038 | } else { |
| 11039 | cartesian_trajectory_planner_B.b_bool_nh = true; |
| 11040 | exitg1 = 1; |
| 11041 | } |
| 11042 | } while (exitg1 == 0); |
| 11043 | } |
| 11044 | |
| 11045 | if (cartesian_trajectory_planner_B.b_bool_nh) { |
| 11046 | guard1 = true; |
| 11047 | } else { |
| 11048 | ax[0] = (rtNaN); |
| 11049 | ax[1] = (rtNaN); |
| 11050 | ax[2] = (rtNaN); |
| 11051 | } |
| 11052 | } |
| 11053 | |
| 11054 | if (guard1) { |
| 11055 | ax[0] = obj->JointAxisInternal[0]; |
| 11056 | ax[1] = obj->JointAxisInternal[1]; |
| 11057 | ax[2] = obj->JointAxisInternal[2]; |
| 11058 | } |
| 11059 | |
| 11060 | cartesian_trajec_emxFree_char_T(&a); |
| 11061 | } |
| 11062 | |
| 11063 | static void RigidBodyTree_forwardKinematics(p_robotics_manip_internal_Rig_T *obj, |
| 11064 | const real_T qvec[6], emxArray_f_cell_wrap_cartesia_T *Ttree) |
| 11065 | { |
| 11066 | n_robotics_manip_internal_Rig_T *body; |
| 11067 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 11068 | static const int8_T tmp[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1 |
| 11069 | }; |
| 11070 | |
| 11071 | static const char_T tmp_0[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 11072 | |
| 11073 | static const char_T tmp_1[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 11074 | |
| 11075 | int32_T exitg1; |
| 11076 | cartesian_trajectory_planner_B.n = obj->NumBodies; |
| 11077 | for (cartesian_trajectory_planner_B.b_kstr_i = 0; |
| 11078 | cartesian_trajectory_planner_B.b_kstr_i < 16; |
| 11079 | cartesian_trajectory_planner_B.b_kstr_i++) { |
| 11080 | cartesian_trajectory_planner_B.c_f1[cartesian_trajectory_planner_B.b_kstr_i] |
| 11081 | = tmp[cartesian_trajectory_planner_B.b_kstr_i]; |
| 11082 | } |
| 11083 | |
| 11084 | cartesian_trajectory_planner_B.b_kstr_i = Ttree->size[0] * Ttree->size[1]; |
| 11085 | Ttree->size[0] = 1; |
| 11086 | cartesian_trajectory_planner_B.e_on = static_cast<int32_T> |
| 11087 | (cartesian_trajectory_planner_B.n); |
| 11088 | Ttree->size[1] = cartesian_trajectory_planner_B.e_on; |
| 11089 | c_emxEnsureCapacity_f_cell_wrap(Ttree, cartesian_trajectory_planner_B.b_kstr_i); |
| 11090 | if (cartesian_trajectory_planner_B.e_on != 0) { |
| 11091 | cartesian_trajectory_planner_B.ntilecols = |
| 11092 | cartesian_trajectory_planner_B.e_on - 1; |
| 11093 | if (0 <= cartesian_trajectory_planner_B.ntilecols) { |
| 11094 | memcpy(&cartesian_trajectory_planner_B.expl_temp.f1[0], |
| 11095 | &cartesian_trajectory_planner_B.c_f1[0], sizeof(real_T) << 4U); |
| 11096 | } |
| 11097 | |
| 11098 | for (cartesian_trajectory_planner_B.b_jtilecol = 0; |
| 11099 | cartesian_trajectory_planner_B.b_jtilecol <= |
| 11100 | cartesian_trajectory_planner_B.ntilecols; |
| 11101 | cartesian_trajectory_planner_B.b_jtilecol++) { |
| 11102 | Ttree->data[cartesian_trajectory_planner_B.b_jtilecol] = |
| 11103 | cartesian_trajectory_planner_B.expl_temp; |
| 11104 | } |
| 11105 | } |
| 11106 | |
| 11107 | cartesian_trajectory_planner_B.k = 1.0; |
| 11108 | cartesian_trajectory_planner_B.ntilecols = static_cast<int32_T> |
| 11109 | (cartesian_trajectory_planner_B.n) - 1; |
| 11110 | cartesian_trajec_emxInit_char_T(&switch_expression, 2); |
| 11111 | if (0 <= cartesian_trajectory_planner_B.ntilecols) { |
| 11112 | for (cartesian_trajectory_planner_B.b_kstr_i = 0; |
| 11113 | cartesian_trajectory_planner_B.b_kstr_i < 5; |
| 11114 | cartesian_trajectory_planner_B.b_kstr_i++) { |
| 11115 | cartesian_trajectory_planner_B.b_cf[cartesian_trajectory_planner_B.b_kstr_i] |
| 11116 | = tmp_0[cartesian_trajectory_planner_B.b_kstr_i]; |
| 11117 | } |
| 11118 | } |
| 11119 | |
| 11120 | for (cartesian_trajectory_planner_B.b_jtilecol = 0; |
| 11121 | cartesian_trajectory_planner_B.b_jtilecol <= |
| 11122 | cartesian_trajectory_planner_B.ntilecols; |
| 11123 | cartesian_trajectory_planner_B.b_jtilecol++) { |
| 11124 | body = obj->Bodies[cartesian_trajectory_planner_B.b_jtilecol]; |
| 11125 | cartesian_trajectory_planner_B.n = body->JointInternal.PositionNumber; |
| 11126 | cartesian_trajectory_planner_B.n += cartesian_trajectory_planner_B.k; |
| 11127 | if (cartesian_trajectory_planner_B.k > cartesian_trajectory_planner_B.n - |
| 11128 | 1.0) { |
| 11129 | cartesian_trajectory_planner_B.e_on = 0; |
| 11130 | cartesian_trajectory_planner_B.d_f = 0; |
| 11131 | } else { |
| 11132 | cartesian_trajectory_planner_B.e_on = static_cast<int32_T> |
| 11133 | (cartesian_trajectory_planner_B.k) - 1; |
| 11134 | cartesian_trajectory_planner_B.d_f = static_cast<int32_T> |
| 11135 | (cartesian_trajectory_planner_B.n - 1.0); |
| 11136 | } |
| 11137 | |
| 11138 | cartesian_trajectory_planner_B.b_kstr_i = switch_expression->size[0] * |
| 11139 | switch_expression->size[1]; |
| 11140 | switch_expression->size[0] = 1; |
| 11141 | switch_expression->size[1] = body->JointInternal.Type->size[1]; |
| 11142 | cartes_emxEnsureCapacity_char_T(switch_expression, |
| 11143 | cartesian_trajectory_planner_B.b_kstr_i); |
| 11144 | cartesian_trajectory_planner_B.loop_ub_e0 = body->JointInternal.Type->size[0] |
| 11145 | * body->JointInternal.Type->size[1] - 1; |
| 11146 | for (cartesian_trajectory_planner_B.b_kstr_i = 0; |
| 11147 | cartesian_trajectory_planner_B.b_kstr_i <= |
| 11148 | cartesian_trajectory_planner_B.loop_ub_e0; |
| 11149 | cartesian_trajectory_planner_B.b_kstr_i++) { |
| 11150 | switch_expression->data[cartesian_trajectory_planner_B.b_kstr_i] = |
| 11151 | body->JointInternal.Type->data[cartesian_trajectory_planner_B.b_kstr_i]; |
| 11152 | } |
| 11153 | |
| 11154 | cartesian_trajectory_planner_B.b_bool_c = false; |
| 11155 | if (switch_expression->size[1] == 5) { |
| 11156 | cartesian_trajectory_planner_B.b_kstr_i = 1; |
| 11157 | do { |
| 11158 | exitg1 = 0; |
| 11159 | if (cartesian_trajectory_planner_B.b_kstr_i - 1 < 5) { |
| 11160 | cartesian_trajectory_planner_B.loop_ub_e0 = |
| 11161 | cartesian_trajectory_planner_B.b_kstr_i - 1; |
| 11162 | if (switch_expression->data[cartesian_trajectory_planner_B.loop_ub_e0] |
| 11163 | != |
| 11164 | cartesian_trajectory_planner_B.b_cf[cartesian_trajectory_planner_B.loop_ub_e0]) |
| 11165 | { |
| 11166 | exitg1 = 1; |
| 11167 | } else { |
| 11168 | cartesian_trajectory_planner_B.b_kstr_i++; |
| 11169 | } |
| 11170 | } else { |
| 11171 | cartesian_trajectory_planner_B.b_bool_c = true; |
| 11172 | exitg1 = 1; |
| 11173 | } |
| 11174 | } while (exitg1 == 0); |
| 11175 | } |
| 11176 | |
| 11177 | if (cartesian_trajectory_planner_B.b_bool_c) { |
| 11178 | cartesian_trajectory_planner_B.b_kstr_i = 0; |
| 11179 | } else { |
| 11180 | for (cartesian_trajectory_planner_B.b_kstr_i = 0; |
| 11181 | cartesian_trajectory_planner_B.b_kstr_i < 8; |
| 11182 | cartesian_trajectory_planner_B.b_kstr_i++) { |
| 11183 | cartesian_trajectory_planner_B.b_k[cartesian_trajectory_planner_B.b_kstr_i] |
| 11184 | = tmp_1[cartesian_trajectory_planner_B.b_kstr_i]; |
| 11185 | } |
| 11186 | |
| 11187 | cartesian_trajectory_planner_B.b_bool_c = false; |
| 11188 | if (switch_expression->size[1] == 8) { |
| 11189 | cartesian_trajectory_planner_B.b_kstr_i = 1; |
| 11190 | do { |
| 11191 | exitg1 = 0; |
| 11192 | if (cartesian_trajectory_planner_B.b_kstr_i - 1 < 8) { |
| 11193 | cartesian_trajectory_planner_B.loop_ub_e0 = |
| 11194 | cartesian_trajectory_planner_B.b_kstr_i - 1; |
| 11195 | if (switch_expression-> |
| 11196 | data[cartesian_trajectory_planner_B.loop_ub_e0] != |
| 11197 | cartesian_trajectory_planner_B.b_k[cartesian_trajectory_planner_B.loop_ub_e0]) |
| 11198 | { |
| 11199 | exitg1 = 1; |
| 11200 | } else { |
| 11201 | cartesian_trajectory_planner_B.b_kstr_i++; |
| 11202 | } |
| 11203 | } else { |
| 11204 | cartesian_trajectory_planner_B.b_bool_c = true; |
| 11205 | exitg1 = 1; |
| 11206 | } |
| 11207 | } while (exitg1 == 0); |
| 11208 | } |
| 11209 | |
| 11210 | if (cartesian_trajectory_planner_B.b_bool_c) { |
| 11211 | cartesian_trajectory_planner_B.b_kstr_i = 1; |
| 11212 | } else { |
| 11213 | cartesian_trajectory_planner_B.b_kstr_i = -1; |
| 11214 | } |
| 11215 | } |
| 11216 | |
| 11217 | switch (cartesian_trajectory_planner_B.b_kstr_i) { |
| 11218 | case 0: |
| 11219 | memset(&cartesian_trajectory_planner_B.c_f1[0], 0, sizeof(real_T) << 4U); |
| 11220 | cartesian_trajectory_planner_B.c_f1[0] = 1.0; |
| 11221 | cartesian_trajectory_planner_B.c_f1[5] = 1.0; |
| 11222 | cartesian_trajectory_planner_B.c_f1[10] = 1.0; |
| 11223 | cartesian_trajectory_planner_B.c_f1[15] = 1.0; |
| 11224 | break; |
| 11225 | |
| 11226 | case 1: |
| 11227 | ca_rigidBodyJoint_get_JointAxis(&body->JointInternal, |
| 11228 | cartesian_trajectory_planner_B.v_i); |
| 11229 | cartesian_trajectory_planner_B.d_f -= cartesian_trajectory_planner_B.e_on; |
| 11230 | for (cartesian_trajectory_planner_B.b_kstr_i = 0; |
| 11231 | cartesian_trajectory_planner_B.b_kstr_i < |
| 11232 | cartesian_trajectory_planner_B.d_f; |
| 11233 | cartesian_trajectory_planner_B.b_kstr_i++) { |
| 11234 | cartesian_trajectory_planner_B.e_data[cartesian_trajectory_planner_B.b_kstr_i] |
| 11235 | = cartesian_trajectory_planner_B.e_on + |
| 11236 | cartesian_trajectory_planner_B.b_kstr_i; |
| 11237 | } |
| 11238 | |
| 11239 | cartesian_trajectory_planner_B.result_data_c[0] = |
| 11240 | cartesian_trajectory_planner_B.v_i[0]; |
| 11241 | cartesian_trajectory_planner_B.result_data_c[1] = |
| 11242 | cartesian_trajectory_planner_B.v_i[1]; |
| 11243 | cartesian_trajectory_planner_B.result_data_c[2] = |
| 11244 | cartesian_trajectory_planner_B.v_i[2]; |
| 11245 | if (0 <= (cartesian_trajectory_planner_B.d_f != 0) - 1) { |
| 11246 | cartesian_trajectory_planner_B.result_data_c[3] = |
| 11247 | qvec[cartesian_trajectory_planner_B.e_data[0]]; |
| 11248 | } |
| 11249 | |
| 11250 | cartesian_trajectory_planner_B.k = 1.0 / sqrt |
| 11251 | ((cartesian_trajectory_planner_B.result_data_c[0] * |
| 11252 | cartesian_trajectory_planner_B.result_data_c[0] + |
| 11253 | cartesian_trajectory_planner_B.result_data_c[1] * |
| 11254 | cartesian_trajectory_planner_B.result_data_c[1]) + |
| 11255 | cartesian_trajectory_planner_B.result_data_c[2] * |
| 11256 | cartesian_trajectory_planner_B.result_data_c[2]); |
| 11257 | cartesian_trajectory_planner_B.v_i[0] = |
| 11258 | cartesian_trajectory_planner_B.result_data_c[0] * |
| 11259 | cartesian_trajectory_planner_B.k; |
| 11260 | cartesian_trajectory_planner_B.v_i[1] = |
| 11261 | cartesian_trajectory_planner_B.result_data_c[1] * |
| 11262 | cartesian_trajectory_planner_B.k; |
| 11263 | cartesian_trajectory_planner_B.v_i[2] = |
| 11264 | cartesian_trajectory_planner_B.result_data_c[2] * |
| 11265 | cartesian_trajectory_planner_B.k; |
| 11266 | cartesian_trajectory_planner_B.k = cos |
| 11267 | (cartesian_trajectory_planner_B.result_data_c[3]); |
| 11268 | cartesian_trajectory_planner_B.sth_c = sin |
| 11269 | (cartesian_trajectory_planner_B.result_data_c[3]); |
| 11270 | cartesian_trajectory_planner_B.tempR_m[0] = |
| 11271 | cartesian_trajectory_planner_B.v_i[0] * |
| 11272 | cartesian_trajectory_planner_B.v_i[0] * (1.0 - |
| 11273 | cartesian_trajectory_planner_B.k) + cartesian_trajectory_planner_B.k; |
| 11274 | cartesian_trajectory_planner_B.tempR_tmp_p = |
| 11275 | cartesian_trajectory_planner_B.v_i[1] * |
| 11276 | cartesian_trajectory_planner_B.v_i[0] * (1.0 - |
| 11277 | cartesian_trajectory_planner_B.k); |
| 11278 | cartesian_trajectory_planner_B.tempR_tmp_pi = |
| 11279 | cartesian_trajectory_planner_B.v_i[2] * |
| 11280 | cartesian_trajectory_planner_B.sth_c; |
| 11281 | cartesian_trajectory_planner_B.tempR_m[1] = |
| 11282 | cartesian_trajectory_planner_B.tempR_tmp_p - |
| 11283 | cartesian_trajectory_planner_B.tempR_tmp_pi; |
| 11284 | cartesian_trajectory_planner_B.tempR_tmp_a = |
| 11285 | cartesian_trajectory_planner_B.v_i[2] * |
| 11286 | cartesian_trajectory_planner_B.v_i[0] * (1.0 - |
| 11287 | cartesian_trajectory_planner_B.k); |
| 11288 | cartesian_trajectory_planner_B.tempR_tmp_ow = |
| 11289 | cartesian_trajectory_planner_B.v_i[1] * |
| 11290 | cartesian_trajectory_planner_B.sth_c; |
| 11291 | cartesian_trajectory_planner_B.tempR_m[2] = |
| 11292 | cartesian_trajectory_planner_B.tempR_tmp_a + |
| 11293 | cartesian_trajectory_planner_B.tempR_tmp_ow; |
| 11294 | cartesian_trajectory_planner_B.tempR_m[3] = |
| 11295 | cartesian_trajectory_planner_B.tempR_tmp_p + |
| 11296 | cartesian_trajectory_planner_B.tempR_tmp_pi; |
| 11297 | cartesian_trajectory_planner_B.tempR_m[4] = |
| 11298 | cartesian_trajectory_planner_B.v_i[1] * |
| 11299 | cartesian_trajectory_planner_B.v_i[1] * (1.0 - |
| 11300 | cartesian_trajectory_planner_B.k) + cartesian_trajectory_planner_B.k; |
| 11301 | cartesian_trajectory_planner_B.tempR_tmp_p = |
| 11302 | cartesian_trajectory_planner_B.v_i[2] * |
| 11303 | cartesian_trajectory_planner_B.v_i[1] * (1.0 - |
| 11304 | cartesian_trajectory_planner_B.k); |
| 11305 | cartesian_trajectory_planner_B.tempR_tmp_pi = |
| 11306 | cartesian_trajectory_planner_B.v_i[0] * |
| 11307 | cartesian_trajectory_planner_B.sth_c; |
| 11308 | cartesian_trajectory_planner_B.tempR_m[5] = |
| 11309 | cartesian_trajectory_planner_B.tempR_tmp_p - |
| 11310 | cartesian_trajectory_planner_B.tempR_tmp_pi; |
| 11311 | cartesian_trajectory_planner_B.tempR_m[6] = |
| 11312 | cartesian_trajectory_planner_B.tempR_tmp_a - |
| 11313 | cartesian_trajectory_planner_B.tempR_tmp_ow; |
| 11314 | cartesian_trajectory_planner_B.tempR_m[7] = |
| 11315 | cartesian_trajectory_planner_B.tempR_tmp_p + |
| 11316 | cartesian_trajectory_planner_B.tempR_tmp_pi; |
| 11317 | cartesian_trajectory_planner_B.tempR_m[8] = |
| 11318 | cartesian_trajectory_planner_B.v_i[2] * |
| 11319 | cartesian_trajectory_planner_B.v_i[2] * (1.0 - |
| 11320 | cartesian_trajectory_planner_B.k) + cartesian_trajectory_planner_B.k; |
| 11321 | for (cartesian_trajectory_planner_B.b_kstr_i = 0; |
| 11322 | cartesian_trajectory_planner_B.b_kstr_i < 3; |
| 11323 | cartesian_trajectory_planner_B.b_kstr_i++) { |
| 11324 | cartesian_trajectory_planner_B.e_on = |
| 11325 | cartesian_trajectory_planner_B.b_kstr_i + 1; |
| 11326 | cartesian_trajectory_planner_B.R_m[cartesian_trajectory_planner_B.e_on - |
| 11327 | 1] = cartesian_trajectory_planner_B.tempR_m |
| 11328 | [(cartesian_trajectory_planner_B.e_on - 1) * 3]; |
| 11329 | cartesian_trajectory_planner_B.e_on = |
| 11330 | cartesian_trajectory_planner_B.b_kstr_i + 1; |
| 11331 | cartesian_trajectory_planner_B.R_m[cartesian_trajectory_planner_B.e_on + |
| 11332 | 2] = cartesian_trajectory_planner_B.tempR_m |
| 11333 | [(cartesian_trajectory_planner_B.e_on - 1) * 3 + 1]; |
| 11334 | cartesian_trajectory_planner_B.e_on = |
| 11335 | cartesian_trajectory_planner_B.b_kstr_i + 1; |
| 11336 | cartesian_trajectory_planner_B.R_m[cartesian_trajectory_planner_B.e_on + |
| 11337 | 5] = cartesian_trajectory_planner_B.tempR_m |
| 11338 | [(cartesian_trajectory_planner_B.e_on - 1) * 3 + 2]; |
| 11339 | } |
| 11340 | |
| 11341 | memset(&cartesian_trajectory_planner_B.c_f1[0], 0, sizeof(real_T) << 4U); |
| 11342 | for (cartesian_trajectory_planner_B.b_kstr_i = 0; |
| 11343 | cartesian_trajectory_planner_B.b_kstr_i < 3; |
| 11344 | cartesian_trajectory_planner_B.b_kstr_i++) { |
| 11345 | cartesian_trajectory_planner_B.d_f = |
| 11346 | cartesian_trajectory_planner_B.b_kstr_i << 2; |
| 11347 | cartesian_trajectory_planner_B.c_f1[cartesian_trajectory_planner_B.d_f] = |
| 11348 | cartesian_trajectory_planner_B.R_m[3 * |
| 11349 | cartesian_trajectory_planner_B.b_kstr_i]; |
| 11350 | cartesian_trajectory_planner_B.c_f1[cartesian_trajectory_planner_B.d_f + |
| 11351 | 1] = cartesian_trajectory_planner_B.R_m[3 * |
| 11352 | cartesian_trajectory_planner_B.b_kstr_i + 1]; |
| 11353 | cartesian_trajectory_planner_B.c_f1[cartesian_trajectory_planner_B.d_f + |
| 11354 | 2] = cartesian_trajectory_planner_B.R_m[3 * |
| 11355 | cartesian_trajectory_planner_B.b_kstr_i + 2]; |
| 11356 | } |
| 11357 | |
| 11358 | cartesian_trajectory_planner_B.c_f1[15] = 1.0; |
| 11359 | break; |
| 11360 | |
| 11361 | default: |
| 11362 | ca_rigidBodyJoint_get_JointAxis(&body->JointInternal, |
| 11363 | cartesian_trajectory_planner_B.v_i); |
| 11364 | memset(&cartesian_trajectory_planner_B.tempR_m[0], 0, 9U * sizeof(real_T)); |
| 11365 | cartesian_trajectory_planner_B.tempR_m[0] = 1.0; |
| 11366 | cartesian_trajectory_planner_B.tempR_m[4] = 1.0; |
| 11367 | cartesian_trajectory_planner_B.tempR_m[8] = 1.0; |
| 11368 | for (cartesian_trajectory_planner_B.b_kstr_i = 0; |
| 11369 | cartesian_trajectory_planner_B.b_kstr_i < 3; |
| 11370 | cartesian_trajectory_planner_B.b_kstr_i++) { |
| 11371 | cartesian_trajectory_planner_B.d_f = |
| 11372 | cartesian_trajectory_planner_B.b_kstr_i << 2; |
| 11373 | cartesian_trajectory_planner_B.c_f1[cartesian_trajectory_planner_B.d_f] = |
| 11374 | cartesian_trajectory_planner_B.tempR_m[3 * |
| 11375 | cartesian_trajectory_planner_B.b_kstr_i]; |
| 11376 | cartesian_trajectory_planner_B.c_f1[cartesian_trajectory_planner_B.d_f + |
| 11377 | 1] = cartesian_trajectory_planner_B.tempR_m[3 * |
| 11378 | cartesian_trajectory_planner_B.b_kstr_i + 1]; |
| 11379 | cartesian_trajectory_planner_B.c_f1[cartesian_trajectory_planner_B.d_f + |
| 11380 | 2] = cartesian_trajectory_planner_B.tempR_m[3 * |
| 11381 | cartesian_trajectory_planner_B.b_kstr_i + 2]; |
| 11382 | cartesian_trajectory_planner_B.c_f1[cartesian_trajectory_planner_B.b_kstr_i |
| 11383 | + 12] = |
| 11384 | cartesian_trajectory_planner_B.v_i[cartesian_trajectory_planner_B.b_kstr_i] |
| 11385 | * qvec[cartesian_trajectory_planner_B.e_on]; |
| 11386 | } |
| 11387 | |
| 11388 | cartesian_trajectory_planner_B.c_f1[3] = 0.0; |
| 11389 | cartesian_trajectory_planner_B.c_f1[7] = 0.0; |
| 11390 | cartesian_trajectory_planner_B.c_f1[11] = 0.0; |
| 11391 | cartesian_trajectory_planner_B.c_f1[15] = 1.0; |
| 11392 | break; |
| 11393 | } |
| 11394 | |
| 11395 | for (cartesian_trajectory_planner_B.b_kstr_i = 0; |
| 11396 | cartesian_trajectory_planner_B.b_kstr_i < 16; |
| 11397 | cartesian_trajectory_planner_B.b_kstr_i++) { |
| 11398 | cartesian_trajectory_planner_B.a_l[cartesian_trajectory_planner_B.b_kstr_i] |
| 11399 | = body-> |
| 11400 | JointInternal.JointToParentTransform[cartesian_trajectory_planner_B.b_kstr_i]; |
| 11401 | } |
| 11402 | |
| 11403 | for (cartesian_trajectory_planner_B.b_kstr_i = 0; |
| 11404 | cartesian_trajectory_planner_B.b_kstr_i < 16; |
| 11405 | cartesian_trajectory_planner_B.b_kstr_i++) { |
| 11406 | cartesian_trajectory_planner_B.b_o[cartesian_trajectory_planner_B.b_kstr_i] |
| 11407 | = body-> |
| 11408 | JointInternal.ChildToJointTransform[cartesian_trajectory_planner_B.b_kstr_i]; |
| 11409 | } |
| 11410 | |
| 11411 | for (cartesian_trajectory_planner_B.b_kstr_i = 0; |
| 11412 | cartesian_trajectory_planner_B.b_kstr_i < 4; |
| 11413 | cartesian_trajectory_planner_B.b_kstr_i++) { |
| 11414 | for (cartesian_trajectory_planner_B.e_on = 0; |
| 11415 | cartesian_trajectory_planner_B.e_on < 4; |
| 11416 | cartesian_trajectory_planner_B.e_on++) { |
| 11417 | cartesian_trajectory_planner_B.d_f = cartesian_trajectory_planner_B.e_on |
| 11418 | << 2; |
| 11419 | cartesian_trajectory_planner_B.loop_ub_e0 = |
| 11420 | cartesian_trajectory_planner_B.b_kstr_i + |
| 11421 | cartesian_trajectory_planner_B.d_f; |
| 11422 | cartesian_trajectory_planner_B.a_b[cartesian_trajectory_planner_B.loop_ub_e0] |
| 11423 | = 0.0; |
| 11424 | cartesian_trajectory_planner_B.a_b[cartesian_trajectory_planner_B.loop_ub_e0] |
| 11425 | += |
| 11426 | cartesian_trajectory_planner_B.c_f1[cartesian_trajectory_planner_B.d_f] |
| 11427 | * cartesian_trajectory_planner_B.a_l[cartesian_trajectory_planner_B.b_kstr_i]; |
| 11428 | cartesian_trajectory_planner_B.a_b[cartesian_trajectory_planner_B.loop_ub_e0] |
| 11429 | += |
| 11430 | cartesian_trajectory_planner_B.c_f1[cartesian_trajectory_planner_B.d_f |
| 11431 | + 1] * |
| 11432 | cartesian_trajectory_planner_B.a_l[cartesian_trajectory_planner_B.b_kstr_i |
| 11433 | + 4]; |
| 11434 | cartesian_trajectory_planner_B.a_b[cartesian_trajectory_planner_B.loop_ub_e0] |
| 11435 | += |
| 11436 | cartesian_trajectory_planner_B.c_f1[cartesian_trajectory_planner_B.d_f |
| 11437 | + 2] * |
| 11438 | cartesian_trajectory_planner_B.a_l[cartesian_trajectory_planner_B.b_kstr_i |
| 11439 | + 8]; |
| 11440 | cartesian_trajectory_planner_B.a_b[cartesian_trajectory_planner_B.loop_ub_e0] |
| 11441 | += |
| 11442 | cartesian_trajectory_planner_B.c_f1[cartesian_trajectory_planner_B.d_f |
| 11443 | + 3] * |
| 11444 | cartesian_trajectory_planner_B.a_l[cartesian_trajectory_planner_B.b_kstr_i |
| 11445 | + 12]; |
| 11446 | } |
| 11447 | |
| 11448 | for (cartesian_trajectory_planner_B.e_on = 0; |
| 11449 | cartesian_trajectory_planner_B.e_on < 4; |
| 11450 | cartesian_trajectory_planner_B.e_on++) { |
| 11451 | cartesian_trajectory_planner_B.d_f = cartesian_trajectory_planner_B.e_on |
| 11452 | << 2; |
| 11453 | cartesian_trajectory_planner_B.loop_ub_e0 = |
| 11454 | cartesian_trajectory_planner_B.b_kstr_i + |
| 11455 | cartesian_trajectory_planner_B.d_f; |
| 11456 | Ttree->data[cartesian_trajectory_planner_B.b_jtilecol] |
| 11457 | .f1[cartesian_trajectory_planner_B.loop_ub_e0] = 0.0; |
| 11458 | Ttree->data[cartesian_trajectory_planner_B.b_jtilecol] |
| 11459 | .f1[cartesian_trajectory_planner_B.loop_ub_e0] += |
| 11460 | cartesian_trajectory_planner_B.b_o[cartesian_trajectory_planner_B.d_f] |
| 11461 | * cartesian_trajectory_planner_B.a_b[cartesian_trajectory_planner_B.b_kstr_i]; |
| 11462 | Ttree->data[cartesian_trajectory_planner_B.b_jtilecol] |
| 11463 | .f1[cartesian_trajectory_planner_B.loop_ub_e0] += |
| 11464 | cartesian_trajectory_planner_B.b_o[cartesian_trajectory_planner_B.d_f |
| 11465 | + 1] * |
| 11466 | cartesian_trajectory_planner_B.a_b[cartesian_trajectory_planner_B.b_kstr_i |
| 11467 | + 4]; |
| 11468 | Ttree->data[cartesian_trajectory_planner_B.b_jtilecol] |
| 11469 | .f1[cartesian_trajectory_planner_B.loop_ub_e0] += |
| 11470 | cartesian_trajectory_planner_B.b_o[cartesian_trajectory_planner_B.d_f |
| 11471 | + 2] * |
| 11472 | cartesian_trajectory_planner_B.a_b[cartesian_trajectory_planner_B.b_kstr_i |
| 11473 | + 8]; |
| 11474 | Ttree->data[cartesian_trajectory_planner_B.b_jtilecol] |
| 11475 | .f1[cartesian_trajectory_planner_B.loop_ub_e0] += |
| 11476 | cartesian_trajectory_planner_B.b_o[cartesian_trajectory_planner_B.d_f |
| 11477 | + 3] * |
| 11478 | cartesian_trajectory_planner_B.a_b[cartesian_trajectory_planner_B.b_kstr_i |
| 11479 | + 12]; |
| 11480 | } |
| 11481 | } |
| 11482 | |
| 11483 | cartesian_trajectory_planner_B.k = cartesian_trajectory_planner_B.n; |
| 11484 | if (body->ParentIndex > 0.0) { |
| 11485 | for (cartesian_trajectory_planner_B.b_kstr_i = 0; |
| 11486 | cartesian_trajectory_planner_B.b_kstr_i < 16; |
| 11487 | cartesian_trajectory_planner_B.b_kstr_i++) { |
| 11488 | cartesian_trajectory_planner_B.a_l[cartesian_trajectory_planner_B.b_kstr_i] |
| 11489 | = Ttree->data[static_cast<int32_T>(body->ParentIndex) - 1] |
| 11490 | .f1[cartesian_trajectory_planner_B.b_kstr_i]; |
| 11491 | } |
| 11492 | |
| 11493 | for (cartesian_trajectory_planner_B.b_kstr_i = 0; |
| 11494 | cartesian_trajectory_planner_B.b_kstr_i < 4; |
| 11495 | cartesian_trajectory_planner_B.b_kstr_i++) { |
| 11496 | for (cartesian_trajectory_planner_B.e_on = 0; |
| 11497 | cartesian_trajectory_planner_B.e_on < 4; |
| 11498 | cartesian_trajectory_planner_B.e_on++) { |
| 11499 | cartesian_trajectory_planner_B.d_f = |
| 11500 | cartesian_trajectory_planner_B.e_on << 2; |
| 11501 | cartesian_trajectory_planner_B.loop_ub_e0 = |
| 11502 | cartesian_trajectory_planner_B.b_kstr_i + |
| 11503 | cartesian_trajectory_planner_B.d_f; |
| 11504 | cartesian_trajectory_planner_B.a_b[cartesian_trajectory_planner_B.loop_ub_e0] |
| 11505 | = 0.0; |
| 11506 | cartesian_trajectory_planner_B.a_b[cartesian_trajectory_planner_B.loop_ub_e0] |
| 11507 | += Ttree->data[cartesian_trajectory_planner_B.b_jtilecol] |
| 11508 | .f1[cartesian_trajectory_planner_B.d_f] * |
| 11509 | cartesian_trajectory_planner_B.a_l[cartesian_trajectory_planner_B.b_kstr_i]; |
| 11510 | cartesian_trajectory_planner_B.a_b[cartesian_trajectory_planner_B.loop_ub_e0] |
| 11511 | += Ttree->data[cartesian_trajectory_planner_B.b_jtilecol] |
| 11512 | .f1[cartesian_trajectory_planner_B.d_f + 1] * |
| 11513 | cartesian_trajectory_planner_B.a_l[cartesian_trajectory_planner_B.b_kstr_i |
| 11514 | + 4]; |
| 11515 | cartesian_trajectory_planner_B.a_b[cartesian_trajectory_planner_B.loop_ub_e0] |
| 11516 | += Ttree->data[cartesian_trajectory_planner_B.b_jtilecol] |
| 11517 | .f1[cartesian_trajectory_planner_B.d_f + 2] * |
| 11518 | cartesian_trajectory_planner_B.a_l[cartesian_trajectory_planner_B.b_kstr_i |
| 11519 | + 8]; |
| 11520 | cartesian_trajectory_planner_B.a_b[cartesian_trajectory_planner_B.loop_ub_e0] |
| 11521 | += Ttree->data[cartesian_trajectory_planner_B.b_jtilecol] |
| 11522 | .f1[cartesian_trajectory_planner_B.d_f + 3] * |
| 11523 | cartesian_trajectory_planner_B.a_l[cartesian_trajectory_planner_B.b_kstr_i |
| 11524 | + 12]; |
| 11525 | } |
| 11526 | } |
| 11527 | |
| 11528 | for (cartesian_trajectory_planner_B.b_kstr_i = 0; |
| 11529 | cartesian_trajectory_planner_B.b_kstr_i < 16; |
| 11530 | cartesian_trajectory_planner_B.b_kstr_i++) { |
| 11531 | Ttree->data[cartesian_trajectory_planner_B.b_jtilecol] |
| 11532 | .f1[cartesian_trajectory_planner_B.b_kstr_i] = |
| 11533 | cartesian_trajectory_planner_B.a_b[cartesian_trajectory_planner_B.b_kstr_i]; |
| 11534 | } |
| 11535 | } |
| 11536 | } |
| 11537 | |
| 11538 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 11539 | } |
| 11540 | |
| 11541 | static void cartesian_t_emxFree_f_cell_wrap(emxArray_f_cell_wrap_cartesia_T |
| 11542 | **pEmxArray) |
| 11543 | { |
| 11544 | if (*pEmxArray != (emxArray_f_cell_wrap_cartesia_T *)NULL) { |
| 11545 | if (((*pEmxArray)->data != (f_cell_wrap_cartesian_traject_T *)NULL) && |
| 11546 | (*pEmxArray)->canFreeData) { |
| 11547 | free((*pEmxArray)->data); |
| 11548 | } |
| 11549 | |
| 11550 | free((*pEmxArray)->size); |
| 11551 | free(*pEmxArray); |
| 11552 | *pEmxArray = (emxArray_f_cell_wrap_cartesia_T *)NULL; |
| 11553 | } |
| 11554 | } |
| 11555 | |
| 11556 | static void RigidBodyTree_geometricJacobian(p_robotics_manip_internal_Rig_T *obj, |
| 11557 | const real_T Q[6], emxArray_real_T_cartesian_tra_T *Jac) |
| 11558 | { |
| 11559 | emxArray_f_cell_wrap_cartesia_T *Ttree; |
| 11560 | n_robotics_manip_internal_Rig_T *body; |
| 11561 | emxArray_real_T_cartesian_tra_T *JacSlice; |
| 11562 | emxArray_char_T_cartesian_tra_T *bname; |
| 11563 | emxArray_real_T_cartesian_tra_T *b; |
| 11564 | static const char_T tmp[11] = { 'e', 'd', 'o', '_', 'l', 'i', 'n', 'k', '_', |
| 11565 | 'e', 'e' }; |
| 11566 | |
| 11567 | static const char_T tmp_0[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 11568 | |
| 11569 | int32_T exitg1; |
| 11570 | boolean_T exitg2; |
| 11571 | cartesian_t_emxInit_f_cell_wrap(&Ttree, 2); |
| 11572 | RigidBodyTree_forwardKinematics(obj, Q, Ttree); |
| 11573 | cartesian_trajectory_planner_B.b_kstr_lu = Jac->size[0] * Jac->size[1]; |
| 11574 | Jac->size[0] = 6; |
| 11575 | Jac->size[1] = static_cast<int32_T>(obj->VelocityNumber); |
| 11576 | cartes_emxEnsureCapacity_real_T(Jac, cartesian_trajectory_planner_B.b_kstr_lu); |
| 11577 | cartesian_trajectory_planner_B.loop_ub_i = 6 * static_cast<int32_T> |
| 11578 | (obj->VelocityNumber) - 1; |
| 11579 | for (cartesian_trajectory_planner_B.b_kstr_lu = 0; |
| 11580 | cartesian_trajectory_planner_B.b_kstr_lu <= |
| 11581 | cartesian_trajectory_planner_B.loop_ub_i; |
| 11582 | cartesian_trajectory_planner_B.b_kstr_lu++) { |
| 11583 | Jac->data[cartesian_trajectory_planner_B.b_kstr_lu] = 0.0; |
| 11584 | } |
| 11585 | |
| 11586 | for (cartesian_trajectory_planner_B.b_kstr_lu = 0; |
| 11587 | cartesian_trajectory_planner_B.b_kstr_lu < 8; |
| 11588 | cartesian_trajectory_planner_B.b_kstr_lu++) { |
| 11589 | cartesian_trajectory_planner_B.chainmask[cartesian_trajectory_planner_B.b_kstr_lu] |
| 11590 | = 0; |
| 11591 | } |
| 11592 | |
| 11593 | cartesian_trajec_emxInit_char_T(&bname, 2); |
| 11594 | cartesian_trajectory_planner_B.b_kstr_lu = bname->size[0] * bname->size[1]; |
| 11595 | bname->size[0] = 1; |
| 11596 | bname->size[1] = obj->Base.NameInternal->size[1]; |
| 11597 | cartes_emxEnsureCapacity_char_T(bname, |
| 11598 | cartesian_trajectory_planner_B.b_kstr_lu); |
| 11599 | cartesian_trajectory_planner_B.loop_ub_i = obj->Base.NameInternal->size[0] * |
| 11600 | obj->Base.NameInternal->size[1] - 1; |
| 11601 | for (cartesian_trajectory_planner_B.b_kstr_lu = 0; |
| 11602 | cartesian_trajectory_planner_B.b_kstr_lu <= |
| 11603 | cartesian_trajectory_planner_B.loop_ub_i; |
| 11604 | cartesian_trajectory_planner_B.b_kstr_lu++) { |
| 11605 | bname->data[cartesian_trajectory_planner_B.b_kstr_lu] = |
| 11606 | obj->Base.NameInternal->data[cartesian_trajectory_planner_B.b_kstr_lu]; |
| 11607 | } |
| 11608 | |
| 11609 | for (cartesian_trajectory_planner_B.b_kstr_lu = 0; |
| 11610 | cartesian_trajectory_planner_B.b_kstr_lu < 11; |
| 11611 | cartesian_trajectory_planner_B.b_kstr_lu++) { |
| 11612 | cartesian_trajectory_planner_B.a_jg[cartesian_trajectory_planner_B.b_kstr_lu] |
| 11613 | = tmp[cartesian_trajectory_planner_B.b_kstr_lu]; |
| 11614 | } |
| 11615 | |
| 11616 | cartesian_trajectory_planner_B.b_bool_n = false; |
| 11617 | if (11 == bname->size[1]) { |
| 11618 | cartesian_trajectory_planner_B.b_kstr_lu = 1; |
| 11619 | do { |
| 11620 | exitg1 = 0; |
| 11621 | if (cartesian_trajectory_planner_B.b_kstr_lu - 1 < 11) { |
| 11622 | cartesian_trajectory_planner_B.kstr = |
| 11623 | cartesian_trajectory_planner_B.b_kstr_lu - 1; |
| 11624 | if (cartesian_trajectory_planner_B.a_jg[cartesian_trajectory_planner_B.kstr] |
| 11625 | != bname->data[cartesian_trajectory_planner_B.kstr]) { |
| 11626 | exitg1 = 1; |
| 11627 | } else { |
| 11628 | cartesian_trajectory_planner_B.b_kstr_lu++; |
| 11629 | } |
| 11630 | } else { |
| 11631 | cartesian_trajectory_planner_B.b_bool_n = true; |
| 11632 | exitg1 = 1; |
| 11633 | } |
| 11634 | } while (exitg1 == 0); |
| 11635 | } |
| 11636 | |
| 11637 | if (cartesian_trajectory_planner_B.b_bool_n) { |
| 11638 | memset(&cartesian_trajectory_planner_B.T2inv[0], 0, sizeof(real_T) << 4U); |
| 11639 | cartesian_trajectory_planner_B.T2inv[0] = 1.0; |
| 11640 | cartesian_trajectory_planner_B.T2inv[5] = 1.0; |
| 11641 | cartesian_trajectory_planner_B.T2inv[10] = 1.0; |
| 11642 | cartesian_trajectory_planner_B.T2inv[15] = 1.0; |
| 11643 | memset(&cartesian_trajectory_planner_B.T2[0], 0, sizeof(real_T) << 4U); |
| 11644 | cartesian_trajectory_planner_B.T2[0] = 1.0; |
| 11645 | cartesian_trajectory_planner_B.T2[5] = 1.0; |
| 11646 | cartesian_trajectory_planner_B.T2[10] = 1.0; |
| 11647 | cartesian_trajectory_planner_B.T2[15] = 1.0; |
| 11648 | } else { |
| 11649 | cartesian_trajectory_planner_B.endeffectorIndex = -1.0; |
| 11650 | cartesian_trajectory_planner_B.b_kstr_lu = bname->size[0] * bname->size[1]; |
| 11651 | bname->size[0] = 1; |
| 11652 | bname->size[1] = obj->Base.NameInternal->size[1]; |
| 11653 | cartes_emxEnsureCapacity_char_T(bname, |
| 11654 | cartesian_trajectory_planner_B.b_kstr_lu); |
| 11655 | cartesian_trajectory_planner_B.loop_ub_i = obj->Base.NameInternal->size[0] * |
| 11656 | obj->Base.NameInternal->size[1] - 1; |
| 11657 | for (cartesian_trajectory_planner_B.b_kstr_lu = 0; |
| 11658 | cartesian_trajectory_planner_B.b_kstr_lu <= |
| 11659 | cartesian_trajectory_planner_B.loop_ub_i; |
| 11660 | cartesian_trajectory_planner_B.b_kstr_lu++) { |
| 11661 | bname->data[cartesian_trajectory_planner_B.b_kstr_lu] = |
| 11662 | obj->Base.NameInternal->data[cartesian_trajectory_planner_B.b_kstr_lu]; |
| 11663 | } |
| 11664 | |
| 11665 | cartesian_trajectory_planner_B.b_bool_n = false; |
| 11666 | if (bname->size[1] == 11) { |
| 11667 | cartesian_trajectory_planner_B.b_kstr_lu = 1; |
| 11668 | do { |
| 11669 | exitg1 = 0; |
| 11670 | if (cartesian_trajectory_planner_B.b_kstr_lu - 1 < 11) { |
| 11671 | cartesian_trajectory_planner_B.kstr = |
| 11672 | cartesian_trajectory_planner_B.b_kstr_lu - 1; |
| 11673 | if (bname->data[cartesian_trajectory_planner_B.kstr] != |
| 11674 | cartesian_trajectory_planner_B.a_jg[cartesian_trajectory_planner_B.kstr]) |
| 11675 | { |
| 11676 | exitg1 = 1; |
| 11677 | } else { |
| 11678 | cartesian_trajectory_planner_B.b_kstr_lu++; |
| 11679 | } |
| 11680 | } else { |
| 11681 | cartesian_trajectory_planner_B.b_bool_n = true; |
| 11682 | exitg1 = 1; |
| 11683 | } |
| 11684 | } while (exitg1 == 0); |
| 11685 | } |
| 11686 | |
| 11687 | if (cartesian_trajectory_planner_B.b_bool_n) { |
| 11688 | cartesian_trajectory_planner_B.endeffectorIndex = 0.0; |
| 11689 | } else { |
| 11690 | cartesian_trajectory_planner_B.idx_idx_1 = obj->NumBodies; |
| 11691 | cartesian_trajectory_planner_B.b_i_a = 0; |
| 11692 | exitg2 = false; |
| 11693 | while ((!exitg2) && (cartesian_trajectory_planner_B.b_i_a <= |
| 11694 | static_cast<int32_T> |
| 11695 | (cartesian_trajectory_planner_B.idx_idx_1) - 1)) { |
| 11696 | body = obj->Bodies[cartesian_trajectory_planner_B.b_i_a]; |
| 11697 | cartesian_trajectory_planner_B.b_kstr_lu = bname->size[0] * bname->size |
| 11698 | [1]; |
| 11699 | bname->size[0] = 1; |
| 11700 | bname->size[1] = body->NameInternal->size[1]; |
| 11701 | cartes_emxEnsureCapacity_char_T(bname, |
| 11702 | cartesian_trajectory_planner_B.b_kstr_lu); |
| 11703 | cartesian_trajectory_planner_B.loop_ub_i = body->NameInternal->size[0] * |
| 11704 | body->NameInternal->size[1] - 1; |
| 11705 | for (cartesian_trajectory_planner_B.b_kstr_lu = 0; |
| 11706 | cartesian_trajectory_planner_B.b_kstr_lu <= |
| 11707 | cartesian_trajectory_planner_B.loop_ub_i; |
| 11708 | cartesian_trajectory_planner_B.b_kstr_lu++) { |
| 11709 | bname->data[cartesian_trajectory_planner_B.b_kstr_lu] = |
| 11710 | body->NameInternal->data[cartesian_trajectory_planner_B.b_kstr_lu]; |
| 11711 | } |
| 11712 | |
| 11713 | for (cartesian_trajectory_planner_B.b_kstr_lu = 0; |
| 11714 | cartesian_trajectory_planner_B.b_kstr_lu < 11; |
| 11715 | cartesian_trajectory_planner_B.b_kstr_lu++) { |
| 11716 | cartesian_trajectory_planner_B.a_jg[cartesian_trajectory_planner_B.b_kstr_lu] |
| 11717 | = tmp[cartesian_trajectory_planner_B.b_kstr_lu]; |
| 11718 | } |
| 11719 | |
| 11720 | cartesian_trajectory_planner_B.b_bool_n = false; |
| 11721 | if (bname->size[1] == 11) { |
| 11722 | cartesian_trajectory_planner_B.b_kstr_lu = 1; |
| 11723 | do { |
| 11724 | exitg1 = 0; |
| 11725 | if (cartesian_trajectory_planner_B.b_kstr_lu - 1 < 11) { |
| 11726 | cartesian_trajectory_planner_B.kstr = |
| 11727 | cartesian_trajectory_planner_B.b_kstr_lu - 1; |
| 11728 | if (bname->data[cartesian_trajectory_planner_B.kstr] != |
| 11729 | cartesian_trajectory_planner_B.a_jg[cartesian_trajectory_planner_B.kstr]) |
| 11730 | { |
| 11731 | exitg1 = 1; |
| 11732 | } else { |
| 11733 | cartesian_trajectory_planner_B.b_kstr_lu++; |
| 11734 | } |
| 11735 | } else { |
| 11736 | cartesian_trajectory_planner_B.b_bool_n = true; |
| 11737 | exitg1 = 1; |
| 11738 | } |
| 11739 | } while (exitg1 == 0); |
| 11740 | } |
| 11741 | |
| 11742 | if (cartesian_trajectory_planner_B.b_bool_n) { |
| 11743 | cartesian_trajectory_planner_B.endeffectorIndex = static_cast<real_T> |
| 11744 | (cartesian_trajectory_planner_B.b_i_a) + 1.0; |
| 11745 | exitg2 = true; |
| 11746 | } else { |
| 11747 | cartesian_trajectory_planner_B.b_i_a++; |
| 11748 | } |
| 11749 | } |
| 11750 | } |
| 11751 | |
| 11752 | cartesian_trajectory_planner_B.b_i_a = static_cast<int32_T> |
| 11753 | (cartesian_trajectory_planner_B.endeffectorIndex) - 1; |
| 11754 | body = obj->Bodies[cartesian_trajectory_planner_B.b_i_a]; |
| 11755 | for (cartesian_trajectory_planner_B.b_kstr_lu = 0; |
| 11756 | cartesian_trajectory_planner_B.b_kstr_lu < 16; |
| 11757 | cartesian_trajectory_planner_B.b_kstr_lu++) { |
| 11758 | cartesian_trajectory_planner_B.T2[cartesian_trajectory_planner_B.b_kstr_lu] |
| 11759 | = Ttree->data[cartesian_trajectory_planner_B.b_i_a] |
| 11760 | .f1[cartesian_trajectory_planner_B.b_kstr_lu]; |
| 11761 | } |
| 11762 | |
| 11763 | for (cartesian_trajectory_planner_B.b_kstr_lu = 0; |
| 11764 | cartesian_trajectory_planner_B.b_kstr_lu < 3; |
| 11765 | cartesian_trajectory_planner_B.b_kstr_lu++) { |
| 11766 | cartesian_trajectory_planner_B.R_o[3 * |
| 11767 | cartesian_trajectory_planner_B.b_kstr_lu] = Ttree-> |
| 11768 | data[cartesian_trajectory_planner_B.b_i_a] |
| 11769 | .f1[cartesian_trajectory_planner_B.b_kstr_lu]; |
| 11770 | cartesian_trajectory_planner_B.R_o[3 * |
| 11771 | cartesian_trajectory_planner_B.b_kstr_lu + 1] = Ttree-> |
| 11772 | data[cartesian_trajectory_planner_B.b_i_a] |
| 11773 | .f1[cartesian_trajectory_planner_B.b_kstr_lu + 4]; |
| 11774 | cartesian_trajectory_planner_B.R_o[3 * |
| 11775 | cartesian_trajectory_planner_B.b_kstr_lu + 2] = Ttree-> |
| 11776 | data[cartesian_trajectory_planner_B.b_i_a] |
| 11777 | .f1[cartesian_trajectory_planner_B.b_kstr_lu + 8]; |
| 11778 | } |
| 11779 | |
| 11780 | for (cartesian_trajectory_planner_B.b_kstr_lu = 0; |
| 11781 | cartesian_trajectory_planner_B.b_kstr_lu < 9; |
| 11782 | cartesian_trajectory_planner_B.b_kstr_lu++) { |
| 11783 | cartesian_trajectory_planner_B.R_l[cartesian_trajectory_planner_B.b_kstr_lu] |
| 11784 | = |
| 11785 | -cartesian_trajectory_planner_B.R_o[cartesian_trajectory_planner_B.b_kstr_lu]; |
| 11786 | } |
| 11787 | |
| 11788 | for (cartesian_trajectory_planner_B.b_kstr_lu = 0; |
| 11789 | cartesian_trajectory_planner_B.b_kstr_lu < 3; |
| 11790 | cartesian_trajectory_planner_B.b_kstr_lu++) { |
| 11791 | cartesian_trajectory_planner_B.endeffectorIndex = Ttree-> |
| 11792 | data[cartesian_trajectory_planner_B.b_i_a].f1[12] * |
| 11793 | cartesian_trajectory_planner_B.R_l[cartesian_trajectory_planner_B.b_kstr_lu]; |
| 11794 | cartesian_trajectory_planner_B.loop_ub_i = |
| 11795 | cartesian_trajectory_planner_B.b_kstr_lu << 2; |
| 11796 | cartesian_trajectory_planner_B.T2inv[cartesian_trajectory_planner_B.loop_ub_i] |
| 11797 | = cartesian_trajectory_planner_B.R_o[3 * |
| 11798 | cartesian_trajectory_planner_B.b_kstr_lu]; |
| 11799 | cartesian_trajectory_planner_B.endeffectorIndex += |
| 11800 | cartesian_trajectory_planner_B.R_l[cartesian_trajectory_planner_B.b_kstr_lu |
| 11801 | + 3] * Ttree->data[cartesian_trajectory_planner_B.b_i_a].f1[13]; |
| 11802 | cartesian_trajectory_planner_B.T2inv[cartesian_trajectory_planner_B.loop_ub_i |
| 11803 | + 1] = cartesian_trajectory_planner_B.R_o[3 * |
| 11804 | cartesian_trajectory_planner_B.b_kstr_lu + 1]; |
| 11805 | cartesian_trajectory_planner_B.endeffectorIndex += |
| 11806 | cartesian_trajectory_planner_B.R_l[cartesian_trajectory_planner_B.b_kstr_lu |
| 11807 | + 6] * Ttree->data[cartesian_trajectory_planner_B.b_i_a].f1[14]; |
| 11808 | cartesian_trajectory_planner_B.T2inv[cartesian_trajectory_planner_B.loop_ub_i |
| 11809 | + 2] = cartesian_trajectory_planner_B.R_o[3 * |
| 11810 | cartesian_trajectory_planner_B.b_kstr_lu + 2]; |
| 11811 | cartesian_trajectory_planner_B.T2inv[cartesian_trajectory_planner_B.b_kstr_lu |
| 11812 | + 12] = cartesian_trajectory_planner_B.endeffectorIndex; |
| 11813 | } |
| 11814 | |
| 11815 | cartesian_trajectory_planner_B.T2inv[3] = 0.0; |
| 11816 | cartesian_trajectory_planner_B.T2inv[7] = 0.0; |
| 11817 | cartesian_trajectory_planner_B.T2inv[11] = 0.0; |
| 11818 | cartesian_trajectory_planner_B.T2inv[15] = 1.0; |
| 11819 | cartesian_trajectory_planner_B.chainmask[cartesian_trajectory_planner_B.b_i_a] |
| 11820 | = 1; |
| 11821 | while (body->ParentIndex > 0.0) { |
| 11822 | body = obj->Bodies[static_cast<int32_T>(body->ParentIndex) - 1]; |
| 11823 | cartesian_trajectory_planner_B.chainmask[static_cast<int32_T>(body->Index) |
| 11824 | - 1] = 1; |
| 11825 | } |
| 11826 | } |
| 11827 | |
| 11828 | cartesian_trajectory_planner_B.idx_idx_1 = obj->NumBodies; |
| 11829 | cartesian_trajectory_planner_B.c_c2 = static_cast<int32_T> |
| 11830 | (cartesian_trajectory_planner_B.idx_idx_1) - 1; |
| 11831 | cartesian_trajec_emxInit_real_T(&JacSlice, 2); |
| 11832 | cartesian_trajec_emxInit_real_T(&b, 2); |
| 11833 | if (0 <= cartesian_trajectory_planner_B.c_c2) { |
| 11834 | for (cartesian_trajectory_planner_B.b_kstr_lu = 0; |
| 11835 | cartesian_trajectory_planner_B.b_kstr_lu < 5; |
| 11836 | cartesian_trajectory_planner_B.b_kstr_lu++) { |
| 11837 | cartesian_trajectory_planner_B.b_h[cartesian_trajectory_planner_B.b_kstr_lu] |
| 11838 | = tmp_0[cartesian_trajectory_planner_B.b_kstr_lu]; |
| 11839 | } |
| 11840 | } |
| 11841 | |
| 11842 | for (cartesian_trajectory_planner_B.b_i_a = 0; |
| 11843 | cartesian_trajectory_planner_B.b_i_a <= |
| 11844 | cartesian_trajectory_planner_B.c_c2; cartesian_trajectory_planner_B.b_i_a |
| 11845 | ++) { |
| 11846 | body = obj->Bodies[cartesian_trajectory_planner_B.b_i_a]; |
| 11847 | cartesian_trajectory_planner_B.b_kstr_lu = bname->size[0] * bname->size[1]; |
| 11848 | bname->size[0] = 1; |
| 11849 | bname->size[1] = body->JointInternal.Type->size[1]; |
| 11850 | cartes_emxEnsureCapacity_char_T(bname, |
| 11851 | cartesian_trajectory_planner_B.b_kstr_lu); |
| 11852 | cartesian_trajectory_planner_B.loop_ub_i = body->JointInternal.Type->size[0] |
| 11853 | * body->JointInternal.Type->size[1] - 1; |
| 11854 | for (cartesian_trajectory_planner_B.b_kstr_lu = 0; |
| 11855 | cartesian_trajectory_planner_B.b_kstr_lu <= |
| 11856 | cartesian_trajectory_planner_B.loop_ub_i; |
| 11857 | cartesian_trajectory_planner_B.b_kstr_lu++) { |
| 11858 | bname->data[cartesian_trajectory_planner_B.b_kstr_lu] = |
| 11859 | body->JointInternal.Type->data[cartesian_trajectory_planner_B.b_kstr_lu]; |
| 11860 | } |
| 11861 | |
| 11862 | cartesian_trajectory_planner_B.b_bool_n = false; |
| 11863 | if (bname->size[1] == 5) { |
| 11864 | cartesian_trajectory_planner_B.b_kstr_lu = 1; |
| 11865 | do { |
| 11866 | exitg1 = 0; |
| 11867 | if (cartesian_trajectory_planner_B.b_kstr_lu - 1 < 5) { |
| 11868 | cartesian_trajectory_planner_B.kstr = |
| 11869 | cartesian_trajectory_planner_B.b_kstr_lu - 1; |
| 11870 | if (bname->data[cartesian_trajectory_planner_B.kstr] != |
| 11871 | cartesian_trajectory_planner_B.b_h[cartesian_trajectory_planner_B.kstr]) |
| 11872 | { |
| 11873 | exitg1 = 1; |
| 11874 | } else { |
| 11875 | cartesian_trajectory_planner_B.b_kstr_lu++; |
| 11876 | } |
| 11877 | } else { |
| 11878 | cartesian_trajectory_planner_B.b_bool_n = true; |
| 11879 | exitg1 = 1; |
| 11880 | } |
| 11881 | } while (exitg1 == 0); |
| 11882 | } |
| 11883 | |
| 11884 | if ((!cartesian_trajectory_planner_B.b_bool_n) && |
| 11885 | (cartesian_trajectory_planner_B.chainmask[cartesian_trajectory_planner_B.b_i_a] |
| 11886 | != 0)) { |
| 11887 | for (cartesian_trajectory_planner_B.b_kstr_lu = 0; |
| 11888 | cartesian_trajectory_planner_B.b_kstr_lu < 16; |
| 11889 | cartesian_trajectory_planner_B.b_kstr_lu++) { |
| 11890 | cartesian_trajectory_planner_B.T1_d[cartesian_trajectory_planner_B.b_kstr_lu] |
| 11891 | = Ttree->data[static_cast<int32_T>(body->Index) - 1] |
| 11892 | .f1[cartesian_trajectory_planner_B.b_kstr_lu]; |
| 11893 | } |
| 11894 | |
| 11895 | for (cartesian_trajectory_planner_B.b_kstr_lu = 0; |
| 11896 | cartesian_trajectory_planner_B.b_kstr_lu < 16; |
| 11897 | cartesian_trajectory_planner_B.b_kstr_lu++) { |
| 11898 | cartesian_trajectory_planner_B.Tdh[cartesian_trajectory_planner_B.b_kstr_lu] |
| 11899 | = body-> |
| 11900 | JointInternal.ChildToJointTransform[cartesian_trajectory_planner_B.b_kstr_lu]; |
| 11901 | } |
| 11902 | |
| 11903 | for (cartesian_trajectory_planner_B.b_kstr_lu = 0; |
| 11904 | cartesian_trajectory_planner_B.b_kstr_lu < 3; |
| 11905 | cartesian_trajectory_planner_B.b_kstr_lu++) { |
| 11906 | cartesian_trajectory_planner_B.R_o[3 * |
| 11907 | cartesian_trajectory_planner_B.b_kstr_lu] = |
| 11908 | cartesian_trajectory_planner_B.Tdh[cartesian_trajectory_planner_B.b_kstr_lu]; |
| 11909 | cartesian_trajectory_planner_B.R_o[3 * |
| 11910 | cartesian_trajectory_planner_B.b_kstr_lu + 1] = |
| 11911 | cartesian_trajectory_planner_B.Tdh[cartesian_trajectory_planner_B.b_kstr_lu |
| 11912 | + 4]; |
| 11913 | cartesian_trajectory_planner_B.R_o[3 * |
| 11914 | cartesian_trajectory_planner_B.b_kstr_lu + 2] = |
| 11915 | cartesian_trajectory_planner_B.Tdh[cartesian_trajectory_planner_B.b_kstr_lu |
| 11916 | + 8]; |
| 11917 | } |
| 11918 | |
| 11919 | for (cartesian_trajectory_planner_B.b_kstr_lu = 0; |
| 11920 | cartesian_trajectory_planner_B.b_kstr_lu < 9; |
| 11921 | cartesian_trajectory_planner_B.b_kstr_lu++) { |
| 11922 | cartesian_trajectory_planner_B.R_l[cartesian_trajectory_planner_B.b_kstr_lu] |
| 11923 | = |
| 11924 | -cartesian_trajectory_planner_B.R_o[cartesian_trajectory_planner_B.b_kstr_lu]; |
| 11925 | } |
| 11926 | |
| 11927 | for (cartesian_trajectory_planner_B.b_kstr_lu = 0; |
| 11928 | cartesian_trajectory_planner_B.b_kstr_lu < 3; |
| 11929 | cartesian_trajectory_planner_B.b_kstr_lu++) { |
| 11930 | cartesian_trajectory_planner_B.R_n[cartesian_trajectory_planner_B.b_kstr_lu] |
| 11931 | = |
| 11932 | cartesian_trajectory_planner_B.R_l[cartesian_trajectory_planner_B.b_kstr_lu |
| 11933 | + 6] * cartesian_trajectory_planner_B.Tdh[14] + |
| 11934 | (cartesian_trajectory_planner_B.R_l[cartesian_trajectory_planner_B.b_kstr_lu |
| 11935 | + 3] * cartesian_trajectory_planner_B.Tdh[13] + |
| 11936 | cartesian_trajectory_planner_B.R_l[cartesian_trajectory_planner_B.b_kstr_lu] |
| 11937 | * cartesian_trajectory_planner_B.Tdh[12]); |
| 11938 | } |
| 11939 | |
| 11940 | for (cartesian_trajectory_planner_B.b_kstr_lu = 0; |
| 11941 | cartesian_trajectory_planner_B.b_kstr_lu < 4; |
| 11942 | cartesian_trajectory_planner_B.b_kstr_lu++) { |
| 11943 | for (cartesian_trajectory_planner_B.kstr = 0; |
| 11944 | cartesian_trajectory_planner_B.kstr < 4; |
| 11945 | cartesian_trajectory_planner_B.kstr++) { |
| 11946 | cartesian_trajectory_planner_B.n_j = |
| 11947 | cartesian_trajectory_planner_B.kstr << 2; |
| 11948 | cartesian_trajectory_planner_B.loop_ub_i = |
| 11949 | cartesian_trajectory_planner_B.b_kstr_lu + |
| 11950 | cartesian_trajectory_planner_B.n_j; |
| 11951 | cartesian_trajectory_planner_B.Tdh[cartesian_trajectory_planner_B.loop_ub_i] |
| 11952 | = 0.0; |
| 11953 | cartesian_trajectory_planner_B.Tdh[cartesian_trajectory_planner_B.loop_ub_i] |
| 11954 | += |
| 11955 | cartesian_trajectory_planner_B.T1_d[cartesian_trajectory_planner_B.n_j] |
| 11956 | * cartesian_trajectory_planner_B.T2inv[cartesian_trajectory_planner_B.b_kstr_lu]; |
| 11957 | cartesian_trajectory_planner_B.Tdh[cartesian_trajectory_planner_B.loop_ub_i] |
| 11958 | += |
| 11959 | cartesian_trajectory_planner_B.T1_d[cartesian_trajectory_planner_B.n_j |
| 11960 | + 1] * |
| 11961 | cartesian_trajectory_planner_B.T2inv[cartesian_trajectory_planner_B.b_kstr_lu |
| 11962 | + 4]; |
| 11963 | cartesian_trajectory_planner_B.Tdh[cartesian_trajectory_planner_B.loop_ub_i] |
| 11964 | += |
| 11965 | cartesian_trajectory_planner_B.T1_d[cartesian_trajectory_planner_B.n_j |
| 11966 | + 2] * |
| 11967 | cartesian_trajectory_planner_B.T2inv[cartesian_trajectory_planner_B.b_kstr_lu |
| 11968 | + 8]; |
| 11969 | cartesian_trajectory_planner_B.Tdh[cartesian_trajectory_planner_B.loop_ub_i] |
| 11970 | += |
| 11971 | cartesian_trajectory_planner_B.T1_d[cartesian_trajectory_planner_B.n_j |
| 11972 | + 3] * |
| 11973 | cartesian_trajectory_planner_B.T2inv[cartesian_trajectory_planner_B.b_kstr_lu |
| 11974 | + 12]; |
| 11975 | } |
| 11976 | } |
| 11977 | |
| 11978 | for (cartesian_trajectory_planner_B.b_kstr_lu = 0; |
| 11979 | cartesian_trajectory_planner_B.b_kstr_lu < 3; |
| 11980 | cartesian_trajectory_planner_B.b_kstr_lu++) { |
| 11981 | cartesian_trajectory_planner_B.kstr = |
| 11982 | cartesian_trajectory_planner_B.b_kstr_lu << 2; |
| 11983 | cartesian_trajectory_planner_B.T1_d[cartesian_trajectory_planner_B.kstr] |
| 11984 | = cartesian_trajectory_planner_B.R_o[3 * |
| 11985 | cartesian_trajectory_planner_B.b_kstr_lu]; |
| 11986 | cartesian_trajectory_planner_B.T1_d[cartesian_trajectory_planner_B.kstr |
| 11987 | + 1] = cartesian_trajectory_planner_B.R_o[3 * |
| 11988 | cartesian_trajectory_planner_B.b_kstr_lu + 1]; |
| 11989 | cartesian_trajectory_planner_B.T1_d[cartesian_trajectory_planner_B.kstr |
| 11990 | + 2] = cartesian_trajectory_planner_B.R_o[3 * |
| 11991 | cartesian_trajectory_planner_B.b_kstr_lu + 2]; |
| 11992 | cartesian_trajectory_planner_B.T1_d[cartesian_trajectory_planner_B.b_kstr_lu |
| 11993 | + 12] = |
| 11994 | cartesian_trajectory_planner_B.R_n[cartesian_trajectory_planner_B.b_kstr_lu]; |
| 11995 | } |
| 11996 | |
| 11997 | cartesian_trajectory_planner_B.T1_d[3] = 0.0; |
| 11998 | cartesian_trajectory_planner_B.T1_d[7] = 0.0; |
| 11999 | cartesian_trajectory_planner_B.T1_d[11] = 0.0; |
| 12000 | cartesian_trajectory_planner_B.T1_d[15] = 1.0; |
| 12001 | for (cartesian_trajectory_planner_B.b_kstr_lu = 0; |
| 12002 | cartesian_trajectory_planner_B.b_kstr_lu < 4; |
| 12003 | cartesian_trajectory_planner_B.b_kstr_lu++) { |
| 12004 | for (cartesian_trajectory_planner_B.kstr = 0; |
| 12005 | cartesian_trajectory_planner_B.kstr < 4; |
| 12006 | cartesian_trajectory_planner_B.kstr++) { |
| 12007 | cartesian_trajectory_planner_B.loop_ub_i = |
| 12008 | cartesian_trajectory_planner_B.kstr << 2; |
| 12009 | cartesian_trajectory_planner_B.n_j = |
| 12010 | cartesian_trajectory_planner_B.b_kstr_lu + |
| 12011 | cartesian_trajectory_planner_B.loop_ub_i; |
| 12012 | cartesian_trajectory_planner_B.T[cartesian_trajectory_planner_B.n_j] = |
| 12013 | 0.0; |
| 12014 | cartesian_trajectory_planner_B.T[cartesian_trajectory_planner_B.n_j] += |
| 12015 | cartesian_trajectory_planner_B.T1_d[cartesian_trajectory_planner_B.loop_ub_i] |
| 12016 | * cartesian_trajectory_planner_B.Tdh[cartesian_trajectory_planner_B.b_kstr_lu]; |
| 12017 | cartesian_trajectory_planner_B.T[cartesian_trajectory_planner_B.n_j] += |
| 12018 | cartesian_trajectory_planner_B.T1_d[cartesian_trajectory_planner_B.loop_ub_i |
| 12019 | + 1] * |
| 12020 | cartesian_trajectory_planner_B.Tdh[cartesian_trajectory_planner_B.b_kstr_lu |
| 12021 | + 4]; |
| 12022 | cartesian_trajectory_planner_B.T[cartesian_trajectory_planner_B.n_j] += |
| 12023 | cartesian_trajectory_planner_B.T1_d[cartesian_trajectory_planner_B.loop_ub_i |
| 12024 | + 2] * |
| 12025 | cartesian_trajectory_planner_B.Tdh[cartesian_trajectory_planner_B.b_kstr_lu |
| 12026 | + 8]; |
| 12027 | cartesian_trajectory_planner_B.T[cartesian_trajectory_planner_B.n_j] += |
| 12028 | cartesian_trajectory_planner_B.T1_d[cartesian_trajectory_planner_B.loop_ub_i |
| 12029 | + 3] * |
| 12030 | cartesian_trajectory_planner_B.Tdh[cartesian_trajectory_planner_B.b_kstr_lu |
| 12031 | + 12]; |
| 12032 | } |
| 12033 | } |
| 12034 | |
| 12035 | cartesian_trajectory_planner_B.endeffectorIndex = obj-> |
| 12036 | PositionDoFMap[cartesian_trajectory_planner_B.b_i_a]; |
| 12037 | cartesian_trajectory_planner_B.idx_idx_1 = obj-> |
| 12038 | PositionDoFMap[cartesian_trajectory_planner_B.b_i_a + 8]; |
| 12039 | cartesian_trajectory_planner_B.R_o[0] = 0.0; |
| 12040 | cartesian_trajectory_planner_B.R_o[3] = -cartesian_trajectory_planner_B.T |
| 12041 | [14]; |
| 12042 | cartesian_trajectory_planner_B.R_o[6] = cartesian_trajectory_planner_B.T |
| 12043 | [13]; |
| 12044 | cartesian_trajectory_planner_B.R_o[1] = cartesian_trajectory_planner_B.T |
| 12045 | [14]; |
| 12046 | cartesian_trajectory_planner_B.R_o[4] = 0.0; |
| 12047 | cartesian_trajectory_planner_B.R_o[7] = -cartesian_trajectory_planner_B.T |
| 12048 | [12]; |
| 12049 | cartesian_trajectory_planner_B.R_o[2] = -cartesian_trajectory_planner_B.T |
| 12050 | [13]; |
| 12051 | cartesian_trajectory_planner_B.R_o[5] = cartesian_trajectory_planner_B.T |
| 12052 | [12]; |
| 12053 | cartesian_trajectory_planner_B.R_o[8] = 0.0; |
| 12054 | for (cartesian_trajectory_planner_B.b_kstr_lu = 0; |
| 12055 | cartesian_trajectory_planner_B.b_kstr_lu < 3; |
| 12056 | cartesian_trajectory_planner_B.b_kstr_lu++) { |
| 12057 | for (cartesian_trajectory_planner_B.kstr = 0; |
| 12058 | cartesian_trajectory_planner_B.kstr < 3; |
| 12059 | cartesian_trajectory_planner_B.kstr++) { |
| 12060 | cartesian_trajectory_planner_B.loop_ub_i = |
| 12061 | cartesian_trajectory_planner_B.b_kstr_lu + 3 * |
| 12062 | cartesian_trajectory_planner_B.kstr; |
| 12063 | cartesian_trajectory_planner_B.R_l[cartesian_trajectory_planner_B.loop_ub_i] |
| 12064 | = 0.0; |
| 12065 | cartesian_trajectory_planner_B.n_j = |
| 12066 | cartesian_trajectory_planner_B.kstr << 2; |
| 12067 | cartesian_trajectory_planner_B.R_l[cartesian_trajectory_planner_B.loop_ub_i] |
| 12068 | += |
| 12069 | cartesian_trajectory_planner_B.T[cartesian_trajectory_planner_B.n_j] |
| 12070 | * cartesian_trajectory_planner_B.R_o[cartesian_trajectory_planner_B.b_kstr_lu]; |
| 12071 | cartesian_trajectory_planner_B.R_l[cartesian_trajectory_planner_B.loop_ub_i] |
| 12072 | += |
| 12073 | cartesian_trajectory_planner_B.T[cartesian_trajectory_planner_B.n_j |
| 12074 | + 1] * |
| 12075 | cartesian_trajectory_planner_B.R_o[cartesian_trajectory_planner_B.b_kstr_lu |
| 12076 | + 3]; |
| 12077 | cartesian_trajectory_planner_B.R_l[cartesian_trajectory_planner_B.loop_ub_i] |
| 12078 | += |
| 12079 | cartesian_trajectory_planner_B.T[cartesian_trajectory_planner_B.n_j |
| 12080 | + 2] * |
| 12081 | cartesian_trajectory_planner_B.R_o[cartesian_trajectory_planner_B.b_kstr_lu |
| 12082 | + 6]; |
| 12083 | cartesian_trajectory_planner_B.X_f[cartesian_trajectory_planner_B.kstr |
| 12084 | + 6 * cartesian_trajectory_planner_B.b_kstr_lu] = |
| 12085 | cartesian_trajectory_planner_B.T |
| 12086 | [(cartesian_trajectory_planner_B.b_kstr_lu << 2) + |
| 12087 | cartesian_trajectory_planner_B.kstr]; |
| 12088 | cartesian_trajectory_planner_B.X_f[cartesian_trajectory_planner_B.kstr |
| 12089 | + 6 * (cartesian_trajectory_planner_B.b_kstr_lu + 3)] = 0.0; |
| 12090 | } |
| 12091 | } |
| 12092 | |
| 12093 | for (cartesian_trajectory_planner_B.b_kstr_lu = 0; |
| 12094 | cartesian_trajectory_planner_B.b_kstr_lu < 3; |
| 12095 | cartesian_trajectory_planner_B.b_kstr_lu++) { |
| 12096 | cartesian_trajectory_planner_B.X_f[6 * |
| 12097 | cartesian_trajectory_planner_B.b_kstr_lu + 3] = |
| 12098 | cartesian_trajectory_planner_B.R_l[3 * |
| 12099 | cartesian_trajectory_planner_B.b_kstr_lu]; |
| 12100 | cartesian_trajectory_planner_B.kstr = |
| 12101 | cartesian_trajectory_planner_B.b_kstr_lu << 2; |
| 12102 | cartesian_trajectory_planner_B.loop_ub_i = 6 * |
| 12103 | (cartesian_trajectory_planner_B.b_kstr_lu + 3); |
| 12104 | cartesian_trajectory_planner_B.X_f[cartesian_trajectory_planner_B.loop_ub_i |
| 12105 | + 3] = |
| 12106 | cartesian_trajectory_planner_B.T[cartesian_trajectory_planner_B.kstr]; |
| 12107 | cartesian_trajectory_planner_B.X_f[6 * |
| 12108 | cartesian_trajectory_planner_B.b_kstr_lu + 4] = |
| 12109 | cartesian_trajectory_planner_B.R_l[3 * |
| 12110 | cartesian_trajectory_planner_B.b_kstr_lu + 1]; |
| 12111 | cartesian_trajectory_planner_B.X_f[cartesian_trajectory_planner_B.loop_ub_i |
| 12112 | + 4] = |
| 12113 | cartesian_trajectory_planner_B.T[cartesian_trajectory_planner_B.kstr + |
| 12114 | 1]; |
| 12115 | cartesian_trajectory_planner_B.X_f[6 * |
| 12116 | cartesian_trajectory_planner_B.b_kstr_lu + 5] = |
| 12117 | cartesian_trajectory_planner_B.R_l[3 * |
| 12118 | cartesian_trajectory_planner_B.b_kstr_lu + 2]; |
| 12119 | cartesian_trajectory_planner_B.X_f[cartesian_trajectory_planner_B.loop_ub_i |
| 12120 | + 5] = |
| 12121 | cartesian_trajectory_planner_B.T[cartesian_trajectory_planner_B.kstr + |
| 12122 | 2]; |
| 12123 | } |
| 12124 | |
| 12125 | cartesian_trajectory_planner_B.b_kstr_lu = b->size[0] * b->size[1]; |
| 12126 | b->size[0] = 6; |
| 12127 | b->size[1] = body->JointInternal.MotionSubspace->size[1]; |
| 12128 | cartes_emxEnsureCapacity_real_T(b, |
| 12129 | cartesian_trajectory_planner_B.b_kstr_lu); |
| 12130 | cartesian_trajectory_planner_B.loop_ub_i = |
| 12131 | body->JointInternal.MotionSubspace->size[0] * |
| 12132 | body->JointInternal.MotionSubspace->size[1] - 1; |
| 12133 | for (cartesian_trajectory_planner_B.b_kstr_lu = 0; |
| 12134 | cartesian_trajectory_planner_B.b_kstr_lu <= |
| 12135 | cartesian_trajectory_planner_B.loop_ub_i; |
| 12136 | cartesian_trajectory_planner_B.b_kstr_lu++) { |
| 12137 | b->data[cartesian_trajectory_planner_B.b_kstr_lu] = |
| 12138 | body->JointInternal.MotionSubspace-> |
| 12139 | data[cartesian_trajectory_planner_B.b_kstr_lu]; |
| 12140 | } |
| 12141 | |
| 12142 | cartesian_trajectory_planner_B.n_j = b->size[1] - 1; |
| 12143 | cartesian_trajectory_planner_B.b_kstr_lu = JacSlice->size[0] * |
| 12144 | JacSlice->size[1]; |
| 12145 | JacSlice->size[0] = 6; |
| 12146 | JacSlice->size[1] = b->size[1]; |
| 12147 | cartes_emxEnsureCapacity_real_T(JacSlice, |
| 12148 | cartesian_trajectory_planner_B.b_kstr_lu); |
| 12149 | for (cartesian_trajectory_planner_B.b_kstr_lu = 0; |
| 12150 | cartesian_trajectory_planner_B.b_kstr_lu <= |
| 12151 | cartesian_trajectory_planner_B.n_j; |
| 12152 | cartesian_trajectory_planner_B.b_kstr_lu++) { |
| 12153 | cartesian_trajectory_planner_B.coffset_tmp_m = |
| 12154 | cartesian_trajectory_planner_B.b_kstr_lu * 6 - 1; |
| 12155 | for (cartesian_trajectory_planner_B.kstr = 0; |
| 12156 | cartesian_trajectory_planner_B.kstr < 6; |
| 12157 | cartesian_trajectory_planner_B.kstr++) { |
| 12158 | cartesian_trajectory_planner_B.s_d = 0.0; |
| 12159 | for (cartesian_trajectory_planner_B.loop_ub_i = 0; |
| 12160 | cartesian_trajectory_planner_B.loop_ub_i < 6; |
| 12161 | cartesian_trajectory_planner_B.loop_ub_i++) { |
| 12162 | cartesian_trajectory_planner_B.s_d += |
| 12163 | cartesian_trajectory_planner_B.X_f[cartesian_trajectory_planner_B.loop_ub_i |
| 12164 | * 6 + cartesian_trajectory_planner_B.kstr] * b->data |
| 12165 | [(cartesian_trajectory_planner_B.coffset_tmp_m + |
| 12166 | cartesian_trajectory_planner_B.loop_ub_i) + 1]; |
| 12167 | } |
| 12168 | |
| 12169 | JacSlice->data[(cartesian_trajectory_planner_B.coffset_tmp_m + |
| 12170 | cartesian_trajectory_planner_B.kstr) + 1] = |
| 12171 | cartesian_trajectory_planner_B.s_d; |
| 12172 | } |
| 12173 | } |
| 12174 | |
| 12175 | if (cartesian_trajectory_planner_B.endeffectorIndex > |
| 12176 | cartesian_trajectory_planner_B.idx_idx_1) { |
| 12177 | cartesian_trajectory_planner_B.n_j = 0; |
| 12178 | } else { |
| 12179 | cartesian_trajectory_planner_B.n_j = static_cast<int32_T> |
| 12180 | (cartesian_trajectory_planner_B.endeffectorIndex) - 1; |
| 12181 | } |
| 12182 | |
| 12183 | cartesian_trajectory_planner_B.loop_ub_i = JacSlice->size[1]; |
| 12184 | for (cartesian_trajectory_planner_B.b_kstr_lu = 0; |
| 12185 | cartesian_trajectory_planner_B.b_kstr_lu < |
| 12186 | cartesian_trajectory_planner_B.loop_ub_i; |
| 12187 | cartesian_trajectory_planner_B.b_kstr_lu++) { |
| 12188 | for (cartesian_trajectory_planner_B.kstr = 0; |
| 12189 | cartesian_trajectory_planner_B.kstr < 6; |
| 12190 | cartesian_trajectory_planner_B.kstr++) { |
| 12191 | Jac->data[cartesian_trajectory_planner_B.kstr + 6 * |
| 12192 | (cartesian_trajectory_planner_B.n_j + |
| 12193 | cartesian_trajectory_planner_B.b_kstr_lu)] = JacSlice->data[6 * |
| 12194 | cartesian_trajectory_planner_B.b_kstr_lu + |
| 12195 | cartesian_trajectory_planner_B.kstr]; |
| 12196 | } |
| 12197 | } |
| 12198 | } |
| 12199 | } |
| 12200 | |
| 12201 | cartesian_trajec_emxFree_char_T(&bname); |
| 12202 | cartesian_trajec_emxFree_real_T(&JacSlice); |
| 12203 | cartesian_t_emxFree_f_cell_wrap(&Ttree); |
| 12204 | for (cartesian_trajectory_planner_B.b_kstr_lu = 0; |
| 12205 | cartesian_trajectory_planner_B.b_kstr_lu < 3; |
| 12206 | cartesian_trajectory_planner_B.b_kstr_lu++) { |
| 12207 | cartesian_trajectory_planner_B.b_i_a = |
| 12208 | cartesian_trajectory_planner_B.b_kstr_lu << 2; |
| 12209 | cartesian_trajectory_planner_B.X_f[6 * |
| 12210 | cartesian_trajectory_planner_B.b_kstr_lu] = |
| 12211 | cartesian_trajectory_planner_B.T2[cartesian_trajectory_planner_B.b_i_a]; |
| 12212 | cartesian_trajectory_planner_B.kstr = 6 * |
| 12213 | (cartesian_trajectory_planner_B.b_kstr_lu + 3); |
| 12214 | cartesian_trajectory_planner_B.X_f[cartesian_trajectory_planner_B.kstr] = |
| 12215 | 0.0; |
| 12216 | cartesian_trajectory_planner_B.X_f[6 * |
| 12217 | cartesian_trajectory_planner_B.b_kstr_lu + 3] = 0.0; |
| 12218 | cartesian_trajectory_planner_B.X_f[cartesian_trajectory_planner_B.kstr + 3] = |
| 12219 | cartesian_trajectory_planner_B.T2[cartesian_trajectory_planner_B.b_i_a]; |
| 12220 | cartesian_trajectory_planner_B.endeffectorIndex = |
| 12221 | cartesian_trajectory_planner_B.T2[cartesian_trajectory_planner_B.b_i_a + 1]; |
| 12222 | cartesian_trajectory_planner_B.X_f[6 * |
| 12223 | cartesian_trajectory_planner_B.b_kstr_lu + 1] = |
| 12224 | cartesian_trajectory_planner_B.endeffectorIndex; |
| 12225 | cartesian_trajectory_planner_B.X_f[cartesian_trajectory_planner_B.kstr + 1] = |
| 12226 | 0.0; |
| 12227 | cartesian_trajectory_planner_B.X_f[6 * |
| 12228 | cartesian_trajectory_planner_B.b_kstr_lu + 4] = 0.0; |
| 12229 | cartesian_trajectory_planner_B.X_f[cartesian_trajectory_planner_B.kstr + 4] = |
| 12230 | cartesian_trajectory_planner_B.endeffectorIndex; |
| 12231 | cartesian_trajectory_planner_B.endeffectorIndex = |
| 12232 | cartesian_trajectory_planner_B.T2[cartesian_trajectory_planner_B.b_i_a + 2]; |
| 12233 | cartesian_trajectory_planner_B.X_f[6 * |
| 12234 | cartesian_trajectory_planner_B.b_kstr_lu + 2] = |
| 12235 | cartesian_trajectory_planner_B.endeffectorIndex; |
| 12236 | cartesian_trajectory_planner_B.X_f[cartesian_trajectory_planner_B.kstr + 2] = |
| 12237 | 0.0; |
| 12238 | cartesian_trajectory_planner_B.X_f[6 * |
| 12239 | cartesian_trajectory_planner_B.b_kstr_lu + 5] = 0.0; |
| 12240 | cartesian_trajectory_planner_B.X_f[cartesian_trajectory_planner_B.kstr + 5] = |
| 12241 | cartesian_trajectory_planner_B.endeffectorIndex; |
| 12242 | } |
| 12243 | |
| 12244 | cartesian_trajectory_planner_B.n_j = Jac->size[1]; |
| 12245 | cartesian_trajectory_planner_B.b_kstr_lu = b->size[0] * b->size[1]; |
| 12246 | b->size[0] = 6; |
| 12247 | b->size[1] = Jac->size[1]; |
| 12248 | cartes_emxEnsureCapacity_real_T(b, cartesian_trajectory_planner_B.b_kstr_lu); |
| 12249 | cartesian_trajectory_planner_B.loop_ub_i = Jac->size[0] * Jac->size[1] - 1; |
| 12250 | for (cartesian_trajectory_planner_B.b_kstr_lu = 0; |
| 12251 | cartesian_trajectory_planner_B.b_kstr_lu <= |
| 12252 | cartesian_trajectory_planner_B.loop_ub_i; |
| 12253 | cartesian_trajectory_planner_B.b_kstr_lu++) { |
| 12254 | b->data[cartesian_trajectory_planner_B.b_kstr_lu] = Jac-> |
| 12255 | data[cartesian_trajectory_planner_B.b_kstr_lu]; |
| 12256 | } |
| 12257 | |
| 12258 | cartesian_trajectory_planner_B.b_kstr_lu = Jac->size[0] * Jac->size[1]; |
| 12259 | Jac->size[0] = 6; |
| 12260 | Jac->size[1] = cartesian_trajectory_planner_B.n_j; |
| 12261 | cartes_emxEnsureCapacity_real_T(Jac, cartesian_trajectory_planner_B.b_kstr_lu); |
| 12262 | for (cartesian_trajectory_planner_B.b_kstr_lu = 0; |
| 12263 | cartesian_trajectory_planner_B.b_kstr_lu < |
| 12264 | cartesian_trajectory_planner_B.n_j; |
| 12265 | cartesian_trajectory_planner_B.b_kstr_lu++) { |
| 12266 | cartesian_trajectory_planner_B.coffset_tmp_m = |
| 12267 | cartesian_trajectory_planner_B.b_kstr_lu * 6 - 1; |
| 12268 | for (cartesian_trajectory_planner_B.b_i_a = 0; |
| 12269 | cartesian_trajectory_planner_B.b_i_a < 6; |
| 12270 | cartesian_trajectory_planner_B.b_i_a++) { |
| 12271 | cartesian_trajectory_planner_B.s_d = 0.0; |
| 12272 | for (cartesian_trajectory_planner_B.loop_ub_i = 0; |
| 12273 | cartesian_trajectory_planner_B.loop_ub_i < 6; |
| 12274 | cartesian_trajectory_planner_B.loop_ub_i++) { |
| 12275 | cartesian_trajectory_planner_B.s_d += |
| 12276 | cartesian_trajectory_planner_B.X_f[cartesian_trajectory_planner_B.loop_ub_i |
| 12277 | * 6 + cartesian_trajectory_planner_B.b_i_a] * b->data |
| 12278 | [(cartesian_trajectory_planner_B.coffset_tmp_m + |
| 12279 | cartesian_trajectory_planner_B.loop_ub_i) + 1]; |
| 12280 | } |
| 12281 | |
| 12282 | Jac->data[(cartesian_trajectory_planner_B.coffset_tmp_m + |
| 12283 | cartesian_trajectory_planner_B.b_i_a) + 1] = |
| 12284 | cartesian_trajectory_planner_B.s_d; |
| 12285 | } |
| 12286 | } |
| 12287 | |
| 12288 | cartesian_trajec_emxFree_real_T(&b); |
| 12289 | } |
| 12290 | |
| 12291 | void rt_invd6x6_snf(const real_T u[36], real_T y[36]) |
| 12292 | { |
| 12293 | int8_T p[6]; |
| 12294 | real_T A[36]; |
| 12295 | int8_T ipiv[6]; |
| 12296 | int32_T jj; |
| 12297 | int32_T j; |
| 12298 | int32_T kAcol; |
| 12299 | int32_T c; |
| 12300 | int32_T ix; |
| 12301 | real_T smax; |
| 12302 | real_T s; |
| 12303 | int32_T iy; |
| 12304 | int32_T jy; |
| 12305 | int32_T j_0; |
| 12306 | int32_T ijA; |
| 12307 | for (iy = 0; iy < 36; iy++) { |
| 12308 | y[iy] = 0.0; |
| 12309 | A[iy] = u[iy]; |
| 12310 | } |
| 12311 | |
| 12312 | for (iy = 0; iy < 6; iy++) { |
| 12313 | ipiv[iy] = static_cast<int8_T>(iy + 1); |
| 12314 | } |
| 12315 | |
| 12316 | for (j = 0; j < 5; j++) { |
| 12317 | c = j * 7 + 2; |
| 12318 | jj = j * 7; |
| 12319 | kAcol = 6 - j; |
| 12320 | iy = 1; |
| 12321 | ix = c - 2; |
| 12322 | smax = fabs(A[jj]); |
| 12323 | for (jy = 2; jy <= kAcol; jy++) { |
| 12324 | ix++; |
| 12325 | s = fabs(A[ix]); |
| 12326 | if (s > smax) { |
| 12327 | iy = jy; |
| 12328 | smax = s; |
| 12329 | } |
| 12330 | } |
| 12331 | |
| 12332 | if (A[(c + iy) - 3] != 0.0) { |
| 12333 | if (iy - 1 != 0) { |
| 12334 | jy = j + iy; |
| 12335 | ipiv[j] = static_cast<int8_T>(jy); |
| 12336 | ix = j; |
| 12337 | iy = jy - 1; |
| 12338 | for (jy = 0; jy < 6; jy++) { |
| 12339 | smax = A[ix]; |
| 12340 | A[ix] = A[iy]; |
| 12341 | A[iy] = smax; |
| 12342 | ix += 6; |
| 12343 | iy += 6; |
| 12344 | } |
| 12345 | } |
| 12346 | |
| 12347 | iy = c - j; |
| 12348 | for (ix = c; ix <= iy + 4; ix++) { |
| 12349 | A[ix - 1] /= A[jj]; |
| 12350 | } |
| 12351 | } |
| 12352 | |
| 12353 | kAcol = 4 - j; |
| 12354 | jy = jj + 6; |
| 12355 | for (j_0 = 0; j_0 <= kAcol; j_0++) { |
| 12356 | if (A[jy] != 0.0) { |
| 12357 | smax = -A[jy]; |
| 12358 | ix = c - 1; |
| 12359 | iy = jj - j; |
| 12360 | for (ijA = jj + 8; ijA <= iy + 12; ijA++) { |
| 12361 | A[ijA - 1] += A[ix] * smax; |
| 12362 | ix++; |
| 12363 | } |
| 12364 | } |
| 12365 | |
| 12366 | jy += 6; |
| 12367 | jj += 6; |
| 12368 | } |
| 12369 | } |
| 12370 | |
| 12371 | for (iy = 0; iy < 6; iy++) { |
| 12372 | p[iy] = static_cast<int8_T>(iy + 1); |
| 12373 | } |
| 12374 | |
| 12375 | for (jy = 0; jy < 5; jy++) { |
| 12376 | if (ipiv[jy] > jy + 1) { |
| 12377 | j = ipiv[jy] - 1; |
| 12378 | iy = p[j]; |
| 12379 | p[j] = p[jy]; |
| 12380 | p[jy] = static_cast<int8_T>(iy); |
| 12381 | } |
| 12382 | } |
| 12383 | |
| 12384 | for (jy = 0; jy < 6; jy++) { |
| 12385 | jj = p[jy] - 1; |
| 12386 | y[jy + 6 * jj] = 1.0; |
| 12387 | for (j = jy + 1; j < 7; j++) { |
| 12388 | iy = (6 * jj + j) - 1; |
| 12389 | if (y[iy] != 0.0) { |
| 12390 | for (ix = j + 1; ix < 7; ix++) { |
| 12391 | c = (6 * jj + ix) - 1; |
| 12392 | y[c] -= A[((j - 1) * 6 + ix) - 1] * y[iy]; |
| 12393 | } |
| 12394 | } |
| 12395 | } |
| 12396 | } |
| 12397 | |
| 12398 | for (j = 0; j < 6; j++) { |
| 12399 | jj = 6 * j; |
| 12400 | for (jy = 5; jy >= 0; jy--) { |
| 12401 | kAcol = 6 * jy; |
| 12402 | iy = jy + jj; |
| 12403 | if (y[iy] != 0.0) { |
| 12404 | y[iy] /= A[jy + kAcol]; |
| 12405 | j_0 = jy - 1; |
| 12406 | for (ix = 0; ix <= j_0; ix++) { |
| 12407 | c = ix + jj; |
| 12408 | y[c] -= y[iy] * A[ix + kAcol]; |
| 12409 | } |
| 12410 | } |
| 12411 | } |
| 12412 | } |
| 12413 | } |
| 12414 | |
| 12415 | static void matlabCodegenHandle_matlabC_ast(ros_slros_internal_block_Subs_T *obj) |
| 12416 | { |
| 12417 | if (!obj->matlabCodegenIsDeleted) { |
| 12418 | obj->matlabCodegenIsDeleted = true; |
| 12419 | } |
| 12420 | } |
| 12421 | |
| 12422 | static void matlabCodegenHandle_matlab_astw(ros_slros_internal_block_GetP_T *obj) |
| 12423 | { |
| 12424 | if (!obj->matlabCodegenIsDeleted) { |
| 12425 | obj->matlabCodegenIsDeleted = true; |
| 12426 | } |
| 12427 | } |
| 12428 | |
| 12429 | static void matlabCodegenHandle_matlabCod_a(robotics_slmanip_internal_b_a_T *obj) |
| 12430 | { |
| 12431 | if (!obj->matlabCodegenIsDeleted) { |
| 12432 | obj->matlabCodegenIsDeleted = true; |
| 12433 | } |
| 12434 | } |
| 12435 | |
| 12436 | static void cartesian_tr_SystemCore_release(b_inverseKinematics_cartesian_T *obj) |
| 12437 | { |
| 12438 | if (obj->isInitialized == 1) { |
| 12439 | obj->isInitialized = 2; |
| 12440 | } |
| 12441 | } |
| 12442 | |
| 12443 | static void cartesian_tra_SystemCore_delete(b_inverseKinematics_cartesian_T *obj) |
| 12444 | { |
| 12445 | cartesian_tr_SystemCore_release(obj); |
| 12446 | } |
| 12447 | |
| 12448 | static void matlabCodegenHandle_matlabCodeg(b_inverseKinematics_cartesian_T *obj) |
| 12449 | { |
| 12450 | if (!obj->matlabCodegenIsDeleted) { |
| 12451 | obj->matlabCodegenIsDeleted = true; |
| 12452 | cartesian_tra_SystemCore_delete(obj); |
| 12453 | } |
| 12454 | } |
| 12455 | |
| 12456 | static void emxFreeStruct_c_rigidBodyJoint(c_rigidBodyJoint_cartesian__a_T |
| 12457 | *pStruct) |
| 12458 | { |
| 12459 | cartesian_trajec_emxFree_char_T(&pStruct->Type); |
| 12460 | cartesian_trajec_emxFree_real_T(&pStruct->MotionSubspace); |
| 12461 | cartesian_trajec_emxFree_char_T(&pStruct->NameInternal); |
| 12462 | cartesian_trajec_emxFree_real_T(&pStruct->PositionLimitsInternal); |
| 12463 | cartesian_trajec_emxFree_real_T(&pStruct->HomePositionInternal); |
| 12464 | } |
| 12465 | |
| 12466 | static void emxFreeStruct_v_robotics_manip_(v_robotics_manip_internal_Rig_T |
| 12467 | *pStruct) |
| 12468 | { |
| 12469 | cartesian_trajec_emxFree_char_T(&pStruct->NameInternal); |
| 12470 | emxFreeStruct_c_rigidBodyJoint(&pStruct->JointInternal); |
| 12471 | } |
| 12472 | |
| 12473 | static void emxFreeStruct_y_robotics_manip_(y_robotics_manip_internal_Rig_T |
| 12474 | *pStruct) |
| 12475 | { |
| 12476 | emxFreeStruct_v_robotics_manip_(&pStruct->Base); |
| 12477 | } |
| 12478 | |
| 12479 | static void emxFreeStruct_b_inverseKinemati(b_inverseKinematics_cartesian_T |
| 12480 | *pStruct) |
| 12481 | { |
| 12482 | cartesian_trajec_emxFree_real_T(&pStruct->Limits); |
| 12483 | } |
| 12484 | |
| 12485 | static void emxFreeStruct_robotics_slmanip_(robotics_slmanip_internal_b_a_T |
| 12486 | *pStruct) |
| 12487 | { |
| 12488 | emxFreeStruct_y_robotics_manip_(&pStruct->TreeInternal); |
| 12489 | emxFreeStruct_b_inverseKinemati(&pStruct->IKInternal); |
| 12490 | } |
| 12491 | |
| 12492 | static void emxFreeStruct_w_robotics_manip_(w_robotics_manip_internal_Rig_T |
| 12493 | *pStruct) |
| 12494 | { |
| 12495 | cartesian_trajec_emxFree_char_T(&pStruct->NameInternal); |
| 12496 | } |
| 12497 | |
| 12498 | static void emxFreeStruct_x_robotics_manip_(x_robotics_manip_internal_Rig_T |
| 12499 | *pStruct) |
| 12500 | { |
| 12501 | emxFreeStruct_w_robotics_manip_(&pStruct->Base); |
| 12502 | } |
| 12503 | |
| 12504 | static void emxFreeStruct_f_robotics_manip_(f_robotics_manip_internal_IKE_T |
| 12505 | *pStruct) |
| 12506 | { |
| 12507 | cartesian_trajec_emxFree_char_T(&pStruct->BodyName); |
| 12508 | cartesian_trajec_emxFree_real_T(&pStruct->ErrTemp); |
| 12509 | cartesian_trajec_emxFree_real_T(&pStruct->GradTemp); |
| 12510 | } |
| 12511 | |
| 12512 | static void emxFreeStruct_h_robotics_core_i(h_robotics_core_internal_Damp_T |
| 12513 | *pStruct) |
| 12514 | { |
| 12515 | cartesian_trajec_emxFree_real_T(&pStruct->ConstraintMatrix); |
| 12516 | cartesian_trajec_emxFree_real_T(&pStruct->ConstraintBound); |
| 12517 | } |
| 12518 | |
| 12519 | static void emxFreeStruct_c_rigidBodyJoint1(c_rigidBodyJoint_cartesian_tr_T |
| 12520 | *pStruct) |
| 12521 | { |
| 12522 | cartesian_trajec_emxFree_char_T(&pStruct->Type); |
| 12523 | cartesian_trajec_emxFree_real_T(&pStruct->MotionSubspace); |
| 12524 | } |
| 12525 | |
| 12526 | static void emxFreeStruct_o_robotics_manip_(o_robotics_manip_internal_Rig_T |
| 12527 | *pStruct) |
| 12528 | { |
| 12529 | cartesian_trajec_emxFree_char_T(&pStruct->NameInternal); |
| 12530 | emxFreeStruct_c_rigidBodyJoint1(&pStruct->JointInternal); |
| 12531 | } |
| 12532 | |
| 12533 | static void emxFreeStruct_p_robotics_manip_(p_robotics_manip_internal_Rig_T |
| 12534 | *pStruct) |
| 12535 | { |
| 12536 | emxFreeStruct_o_robotics_manip_(&pStruct->Base); |
| 12537 | } |
| 12538 | |
| 12539 | static void emxFreeStruct_robotics_slmani_a(robotics_slmanip_internal_blo_T |
| 12540 | *pStruct) |
| 12541 | { |
| 12542 | emxFreeStruct_p_robotics_manip_(&pStruct->TreeInternal); |
| 12543 | } |
| 12544 | |
| 12545 | static void emxFreeStruct_n_robotics_manip_(n_robotics_manip_internal_Rig_T |
| 12546 | *pStruct) |
| 12547 | { |
| 12548 | cartesian_trajec_emxFree_char_T(&pStruct->NameInternal); |
| 12549 | emxFreeStruct_c_rigidBodyJoint1(&pStruct->JointInternal); |
| 12550 | } |
| 12551 | |
| 12552 | static void matlabCodegenHandle_matlabCo_as(ros_slros_internal_block_Publ_T *obj) |
| 12553 | { |
| 12554 | if (!obj->matlabCodegenIsDeleted) { |
| 12555 | obj->matlabCodegenIsDeleted = true; |
| 12556 | } |
| 12557 | } |
| 12558 | |
| 12559 | static void cartesian_traj_SystemCore_setup(robotics_slcore_internal_bl_a_T *obj) |
| 12560 | { |
| 12561 | obj->isInitialized = 1; |
| 12562 | obj->TunablePropsChanged = false; |
| 12563 | } |
| 12564 | |
| 12565 | static void emxInitStruct_c_rigidBodyJoint(c_rigidBodyJoint_cartesian__a_T |
| 12566 | *pStruct) |
| 12567 | { |
| 12568 | cartesian_trajec_emxInit_char_T(&pStruct->Type, 2); |
| 12569 | cartesian_trajec_emxInit_real_T(&pStruct->MotionSubspace, 2); |
| 12570 | cartesian_trajec_emxInit_char_T(&pStruct->NameInternal, 2); |
| 12571 | cartesian_trajec_emxInit_real_T(&pStruct->PositionLimitsInternal, 2); |
| 12572 | cartesian_trajec_emxInit_real_T(&pStruct->HomePositionInternal, 1); |
| 12573 | } |
| 12574 | |
| 12575 | static void emxInitStruct_v_robotics_manip_(v_robotics_manip_internal_Rig_T |
| 12576 | *pStruct) |
| 12577 | { |
| 12578 | cartesian_trajec_emxInit_char_T(&pStruct->NameInternal, 2); |
| 12579 | emxInitStruct_c_rigidBodyJoint(&pStruct->JointInternal); |
| 12580 | } |
| 12581 | |
| 12582 | static void emxInitStruct_y_robotics_manip_(y_robotics_manip_internal_Rig_T |
| 12583 | *pStruct) |
| 12584 | { |
| 12585 | emxInitStruct_v_robotics_manip_(&pStruct->Base); |
| 12586 | } |
| 12587 | |
| 12588 | static void emxInitStruct_b_inverseKinemati(b_inverseKinematics_cartesian_T |
| 12589 | *pStruct) |
| 12590 | { |
| 12591 | cartesian_trajec_emxInit_real_T(&pStruct->Limits, 2); |
| 12592 | } |
| 12593 | |
| 12594 | static void emxInitStruct_robotics_slmanip_(robotics_slmanip_internal_b_a_T |
| 12595 | *pStruct) |
| 12596 | { |
| 12597 | emxInitStruct_y_robotics_manip_(&pStruct->TreeInternal); |
| 12598 | emxInitStruct_b_inverseKinemati(&pStruct->IKInternal); |
| 12599 | } |
| 12600 | |
| 12601 | static void emxInitStruct_w_robotics_manip_(w_robotics_manip_internal_Rig_T |
| 12602 | *pStruct) |
| 12603 | { |
| 12604 | cartesian_trajec_emxInit_char_T(&pStruct->NameInternal, 2); |
| 12605 | } |
| 12606 | |
| 12607 | static void emxInitStruct_x_robotics_manip_(x_robotics_manip_internal_Rig_T |
| 12608 | *pStruct) |
| 12609 | { |
| 12610 | emxInitStruct_w_robotics_manip_(&pStruct->Base); |
| 12611 | } |
| 12612 | |
| 12613 | static void emxInitStruct_f_robotics_manip_(f_robotics_manip_internal_IKE_T |
| 12614 | *pStruct) |
| 12615 | { |
| 12616 | cartesian_trajec_emxInit_char_T(&pStruct->BodyName, 2); |
| 12617 | cartesian_trajec_emxInit_real_T(&pStruct->ErrTemp, 1); |
| 12618 | cartesian_trajec_emxInit_real_T(&pStruct->GradTemp, 1); |
| 12619 | } |
| 12620 | |
| 12621 | static void emxInitStruct_h_robotics_core_i(h_robotics_core_internal_Damp_T |
| 12622 | *pStruct) |
| 12623 | { |
| 12624 | cartesian_trajec_emxInit_real_T(&pStruct->ConstraintMatrix, 2); |
| 12625 | cartesian_trajec_emxInit_real_T(&pStruct->ConstraintBound, 1); |
| 12626 | } |
| 12627 | |
| 12628 | static void cartesia_twister_state_vector_a(uint32_T mt[625]) |
| 12629 | { |
| 12630 | uint32_T r; |
| 12631 | int32_T b_mti; |
| 12632 | r = 5489U; |
| 12633 | mt[0] = 5489U; |
| 12634 | for (b_mti = 0; b_mti < 623; b_mti++) { |
| 12635 | r = ((r >> 30U ^ r) * 1812433253U + b_mti) + 1U; |
| 12636 | mt[b_mti + 1] = r; |
| 12637 | } |
| 12638 | |
| 12639 | mt[624] = 624U; |
| 12640 | } |
| 12641 | |
| 12642 | static void cartesian_tr_eml_rand_mt19937ar(uint32_T state[625]) |
| 12643 | { |
| 12644 | memset(&state[0], 0, 625U * sizeof(uint32_T)); |
| 12645 | cartesia_twister_state_vector_a(state); |
| 12646 | } |
| 12647 | |
| 12648 | static v_robotics_manip_internal_Rig_T *c_RigidBody_RigidBody_astwhqf2a |
| 12649 | (v_robotics_manip_internal_Rig_T *obj) |
| 12650 | { |
| 12651 | v_robotics_manip_internal_Rig_T *b_obj; |
| 12652 | int8_T msubspace_data[36]; |
| 12653 | real_T poslim_data[12]; |
| 12654 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 12655 | boolean_T b_bool; |
| 12656 | int32_T b_kstr; |
| 12657 | char_T b[8]; |
| 12658 | char_T b_0[9]; |
| 12659 | int32_T loop_ub; |
| 12660 | int8_T tmp[6]; |
| 12661 | static const char_T tmp_0[13] = { 'e', 'd', 'o', '_', 'b', 'a', 's', 'e', '_', |
| 12662 | 'l', 'i', 'n', 'k' }; |
| 12663 | |
| 12664 | static const real_T tmp_1[9] = { 0.012583419040406959, -0.00021487638648447484, |
| 12665 | -0.00022605919127205462, -0.00021487638648447484, 0.00052369449451288713, |
| 12666 | -0.00011525315957400814, -0.00022605919127205462, -0.00011525315957400814, |
| 12667 | 0.012646079447789898 }; |
| 12668 | |
| 12669 | static const real_T tmp_2[36] = { 0.012583419040406959, |
| 12670 | -0.00021487638648447484, -0.00022605919127205462, 0.0, -0.00392971169381184, |
| 12671 | 0.00047022930128152475, -0.00021487638648447484, 0.00052369449451288713, |
| 12672 | -0.00011525315957400814, 0.00392971169381184, 0.0, -0.00449464704691423, |
| 12673 | -0.00022605919127205462, -0.00011525315957400814, 0.012646079447789898, |
| 12674 | -0.00047022930128152475, 0.00449464704691423, 0.0, 0.0, 0.00392971169381184, |
| 12675 | -0.00047022930128152475, 0.0785942338762368, 0.0, 0.0, -0.00392971169381184, |
| 12676 | 0.0, 0.00449464704691423, 0.0, 0.0785942338762368, 0.0, |
| 12677 | 0.00047022930128152475, -0.00449464704691423, 0.0, 0.0, 0.0, |
| 12678 | 0.0785942338762368 }; |
| 12679 | |
| 12680 | static const int8_T tmp_3[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, |
| 12681 | 1 }; |
| 12682 | |
| 12683 | static const char_T tmp_4[15] = { 'w', 'o', 'r', 'l', 'd', '_', 'e', 'd', 'o', |
| 12684 | '_', 'j', 'o', 'i', 'n', 't' }; |
| 12685 | |
| 12686 | static const char_T tmp_5[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 12687 | |
| 12688 | static const char_T tmp_6[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 12689 | |
| 12690 | static const char_T tmp_7[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 12691 | |
| 12692 | static const real_T tmp_8[16] = { 1.0, 0.0, -0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 12693 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 12694 | |
| 12695 | static const real_T tmp_9[16] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 12696 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 12697 | |
| 12698 | int32_T exitg1; |
| 12699 | b_obj = obj; |
| 12700 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 12701 | obj->NameInternal->size[0] = 1; |
| 12702 | obj->NameInternal->size[1] = 13; |
| 12703 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr); |
| 12704 | for (b_kstr = 0; b_kstr < 13; b_kstr++) { |
| 12705 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 12706 | } |
| 12707 | |
| 12708 | obj->ParentIndex = 0.0; |
| 12709 | obj->MassInternal = 0.0785942338762368; |
| 12710 | obj->CenterOfMassInternal[0] = 0.057188; |
| 12711 | obj->CenterOfMassInternal[1] = 0.005983; |
| 12712 | obj->CenterOfMassInternal[2] = 0.05; |
| 12713 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 12714 | obj->InertiaInternal[b_kstr] = tmp_1[b_kstr]; |
| 12715 | } |
| 12716 | |
| 12717 | for (b_kstr = 0; b_kstr < 36; b_kstr++) { |
| 12718 | obj->SpatialInertia[b_kstr] = tmp_2[b_kstr]; |
| 12719 | } |
| 12720 | |
| 12721 | obj->JointInternal.InTree = false; |
| 12722 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 12723 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_3[b_kstr]; |
| 12724 | } |
| 12725 | |
| 12726 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 12727 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_3[b_kstr]; |
| 12728 | } |
| 12729 | |
| 12730 | b_kstr = obj->JointInternal.NameInternal->size[0] * |
| 12731 | obj->JointInternal.NameInternal->size[1]; |
| 12732 | obj->JointInternal.NameInternal->size[0] = 1; |
| 12733 | obj->JointInternal.NameInternal->size[1] = 15; |
| 12734 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.NameInternal, b_kstr); |
| 12735 | for (b_kstr = 0; b_kstr < 15; b_kstr++) { |
| 12736 | obj->JointInternal.NameInternal->data[b_kstr] = tmp_4[b_kstr]; |
| 12737 | } |
| 12738 | |
| 12739 | b_kstr = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1]; |
| 12740 | obj->JointInternal.Type->size[0] = 1; |
| 12741 | obj->JointInternal.Type->size[1] = 5; |
| 12742 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.Type, b_kstr); |
| 12743 | for (b_kstr = 0; b_kstr < 5; b_kstr++) { |
| 12744 | obj->JointInternal.Type->data[b_kstr] = tmp_5[b_kstr]; |
| 12745 | } |
| 12746 | |
| 12747 | cartesian_trajec_emxInit_char_T(&switch_expression, 2); |
| 12748 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 12749 | switch_expression->size[0] = 1; |
| 12750 | switch_expression->size[1] = obj->JointInternal.Type->size[1]; |
| 12751 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr); |
| 12752 | loop_ub = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1] |
| 12753 | - 1; |
| 12754 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 12755 | switch_expression->data[b_kstr] = obj->JointInternal.Type->data[b_kstr]; |
| 12756 | } |
| 12757 | |
| 12758 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 12759 | b[b_kstr] = tmp_6[b_kstr]; |
| 12760 | } |
| 12761 | |
| 12762 | b_bool = false; |
| 12763 | if (switch_expression->size[1] == 8) { |
| 12764 | b_kstr = 1; |
| 12765 | do { |
| 12766 | exitg1 = 0; |
| 12767 | if (b_kstr - 1 < 8) { |
| 12768 | loop_ub = b_kstr - 1; |
| 12769 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 12770 | exitg1 = 1; |
| 12771 | } else { |
| 12772 | b_kstr++; |
| 12773 | } |
| 12774 | } else { |
| 12775 | b_bool = true; |
| 12776 | exitg1 = 1; |
| 12777 | } |
| 12778 | } while (exitg1 == 0); |
| 12779 | } |
| 12780 | |
| 12781 | if (b_bool) { |
| 12782 | b_kstr = 0; |
| 12783 | } else { |
| 12784 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 12785 | b_0[b_kstr] = tmp_7[b_kstr]; |
| 12786 | } |
| 12787 | |
| 12788 | b_bool = false; |
| 12789 | if (switch_expression->size[1] == 9) { |
| 12790 | b_kstr = 1; |
| 12791 | do { |
| 12792 | exitg1 = 0; |
| 12793 | if (b_kstr - 1 < 9) { |
| 12794 | loop_ub = b_kstr - 1; |
| 12795 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 12796 | exitg1 = 1; |
| 12797 | } else { |
| 12798 | b_kstr++; |
| 12799 | } |
| 12800 | } else { |
| 12801 | b_bool = true; |
| 12802 | exitg1 = 1; |
| 12803 | } |
| 12804 | } while (exitg1 == 0); |
| 12805 | } |
| 12806 | |
| 12807 | if (b_bool) { |
| 12808 | b_kstr = 1; |
| 12809 | } else { |
| 12810 | b_kstr = -1; |
| 12811 | } |
| 12812 | } |
| 12813 | |
| 12814 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 12815 | switch (b_kstr) { |
| 12816 | case 0: |
| 12817 | tmp[0] = 0; |
| 12818 | tmp[1] = 0; |
| 12819 | tmp[2] = 1; |
| 12820 | tmp[3] = 0; |
| 12821 | tmp[4] = 0; |
| 12822 | tmp[5] = 0; |
| 12823 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 12824 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 12825 | } |
| 12826 | |
| 12827 | poslim_data[0] = -3.1415926535897931; |
| 12828 | poslim_data[1] = 3.1415926535897931; |
| 12829 | obj->JointInternal.VelocityNumber = 1.0; |
| 12830 | obj->JointInternal.PositionNumber = 1.0; |
| 12831 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 12832 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 12833 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 12834 | break; |
| 12835 | |
| 12836 | case 1: |
| 12837 | tmp[0] = 0; |
| 12838 | tmp[1] = 0; |
| 12839 | tmp[2] = 0; |
| 12840 | tmp[3] = 0; |
| 12841 | tmp[4] = 0; |
| 12842 | tmp[5] = 1; |
| 12843 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 12844 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 12845 | } |
| 12846 | |
| 12847 | poslim_data[0] = -0.5; |
| 12848 | poslim_data[1] = 0.5; |
| 12849 | obj->JointInternal.VelocityNumber = 1.0; |
| 12850 | obj->JointInternal.PositionNumber = 1.0; |
| 12851 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 12852 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 12853 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 12854 | break; |
| 12855 | |
| 12856 | default: |
| 12857 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 12858 | msubspace_data[b_kstr] = 0; |
| 12859 | } |
| 12860 | |
| 12861 | poslim_data[0] = 0.0; |
| 12862 | poslim_data[1] = 0.0; |
| 12863 | obj->JointInternal.VelocityNumber = 0.0; |
| 12864 | obj->JointInternal.PositionNumber = 0.0; |
| 12865 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 12866 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 12867 | obj->JointInternal.JointAxisInternal[2] = 0.0; |
| 12868 | break; |
| 12869 | } |
| 12870 | |
| 12871 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 12872 | obj->JointInternal.MotionSubspace->size[1]; |
| 12873 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 12874 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 12875 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 12876 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 12877 | obj->JointInternal.MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 12878 | } |
| 12879 | |
| 12880 | b_kstr = obj->JointInternal.PositionLimitsInternal->size[0] * |
| 12881 | obj->JointInternal.PositionLimitsInternal->size[1]; |
| 12882 | obj->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 12883 | obj->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 12884 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.PositionLimitsInternal, |
| 12885 | b_kstr); |
| 12886 | for (b_kstr = 0; b_kstr < 2; b_kstr++) { |
| 12887 | obj->JointInternal.PositionLimitsInternal->data[b_kstr] = poslim_data[b_kstr]; |
| 12888 | } |
| 12889 | |
| 12890 | b_kstr = obj->JointInternal.HomePositionInternal->size[0]; |
| 12891 | obj->JointInternal.HomePositionInternal->size[0] = 1; |
| 12892 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.HomePositionInternal, |
| 12893 | b_kstr); |
| 12894 | for (b_kstr = 0; b_kstr < 1; b_kstr++) { |
| 12895 | obj->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 12896 | } |
| 12897 | |
| 12898 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 12899 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_8[b_kstr]; |
| 12900 | } |
| 12901 | |
| 12902 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 12903 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_9[b_kstr]; |
| 12904 | } |
| 12905 | |
| 12906 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 12907 | obj->JointInternal.MotionSubspace->size[1]; |
| 12908 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 12909 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 12910 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 12911 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 12912 | obj->JointInternal.MotionSubspace->data[b_kstr] = 0.0; |
| 12913 | } |
| 12914 | |
| 12915 | obj->JointInternal.InTree = true; |
| 12916 | b_kstr = obj->JointInternal.PositionLimitsInternal->size[0] * |
| 12917 | obj->JointInternal.PositionLimitsInternal->size[1]; |
| 12918 | obj->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 12919 | obj->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 12920 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.PositionLimitsInternal, |
| 12921 | b_kstr); |
| 12922 | obj->JointInternal.PositionLimitsInternal->data[0] = 0.0; |
| 12923 | obj->JointInternal.PositionLimitsInternal->data |
| 12924 | [obj->JointInternal.PositionLimitsInternal->size[0]] = 0.0; |
| 12925 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 12926 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 12927 | obj->JointInternal.JointAxisInternal[2] = 0.0; |
| 12928 | b_kstr = obj->JointInternal.HomePositionInternal->size[0]; |
| 12929 | obj->JointInternal.HomePositionInternal->size[0] = 1; |
| 12930 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.HomePositionInternal, |
| 12931 | b_kstr); |
| 12932 | obj->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 12933 | return b_obj; |
| 12934 | } |
| 12935 | |
| 12936 | static v_robotics_manip_internal_Rig_T *RigidBody_RigidBody_astwhqf2az |
| 12937 | (v_robotics_manip_internal_Rig_T *obj) |
| 12938 | { |
| 12939 | v_robotics_manip_internal_Rig_T *b_obj; |
| 12940 | int8_T msubspace_data[36]; |
| 12941 | real_T poslim_data[12]; |
| 12942 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 12943 | boolean_T b_bool; |
| 12944 | int32_T b_kstr; |
| 12945 | char_T b[8]; |
| 12946 | char_T b_0[9]; |
| 12947 | int32_T loop_ub; |
| 12948 | int8_T tmp[6]; |
| 12949 | static const char_T tmp_0[10] = { 'e', 'd', 'o', '_', 'l', 'i', 'n', 'k', '_', |
| 12950 | '1' }; |
| 12951 | |
| 12952 | static const real_T tmp_1[9] = { 0.012559660892485551, 0.00032713982710414, |
| 12953 | -1.32683892634271E-6, 0.00032713982710414, 0.00018048007331848145, |
| 12954 | 9.17416945099368E-5, -1.32683892634271E-6, 9.17416945099368E-5, |
| 12955 | 0.012672078048055372 }; |
| 12956 | |
| 12957 | static const real_T tmp_2[36] = { 0.012559660892485551, 0.00032713982710414, |
| 12958 | -1.32683892634271E-6, 0.0, -0.0, 0.0037143634929909515, 0.00032713982710414, |
| 12959 | 0.00018048007331848145, 9.17416945099368E-5, 0.0, 0.0, 0.0029444543779393356, |
| 12960 | -1.32683892634271E-6, 9.17416945099368E-5, 0.012672078048055372, |
| 12961 | -0.0037143634929909515, -0.0029444543779393356, 0.0, 0.0, 0.0, |
| 12962 | -0.0037143634929909515, 0.0785942338762368, 0.0, 0.0, -0.0, 0.0, |
| 12963 | -0.0029444543779393356, 0.0, 0.0785942338762368, 0.0, 0.0037143634929909515, |
| 12964 | 0.0029444543779393356, 0.0, 0.0, 0.0, 0.0785942338762368 }; |
| 12965 | |
| 12966 | static const int8_T tmp_3[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, |
| 12967 | 1 }; |
| 12968 | |
| 12969 | static const char_T tmp_4[11] = { 'e', 'd', 'o', '_', 'j', 'o', 'i', 'n', 't', |
| 12970 | '_', '1' }; |
| 12971 | |
| 12972 | static const char_T tmp_5[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 12973 | |
| 12974 | static const char_T tmp_6[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 12975 | |
| 12976 | static const real_T tmp_7[16] = { 1.0, 0.0, -0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 12977 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.337, 1.0 }; |
| 12978 | |
| 12979 | static const real_T tmp_8[16] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 12980 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 12981 | |
| 12982 | static const real_T tmp_9[36] = { 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 12983 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 12984 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; |
| 12985 | |
| 12986 | int32_T exitg1; |
| 12987 | b_obj = obj; |
| 12988 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 12989 | obj->NameInternal->size[0] = 1; |
| 12990 | obj->NameInternal->size[1] = 10; |
| 12991 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr); |
| 12992 | for (b_kstr = 0; b_kstr < 10; b_kstr++) { |
| 12993 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 12994 | } |
| 12995 | |
| 12996 | obj->ParentIndex = 1.0; |
| 12997 | obj->MassInternal = 0.0785942338762368; |
| 12998 | obj->CenterOfMassInternal[0] = -0.037464; |
| 12999 | obj->CenterOfMassInternal[1] = 0.04726; |
| 13000 | obj->CenterOfMassInternal[2] = 0.0; |
| 13001 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 13002 | obj->InertiaInternal[b_kstr] = tmp_1[b_kstr]; |
| 13003 | } |
| 13004 | |
| 13005 | for (b_kstr = 0; b_kstr < 36; b_kstr++) { |
| 13006 | obj->SpatialInertia[b_kstr] = tmp_2[b_kstr]; |
| 13007 | } |
| 13008 | |
| 13009 | obj->JointInternal.InTree = false; |
| 13010 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 13011 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_3[b_kstr]; |
| 13012 | } |
| 13013 | |
| 13014 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 13015 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_3[b_kstr]; |
| 13016 | } |
| 13017 | |
| 13018 | b_kstr = obj->JointInternal.NameInternal->size[0] * |
| 13019 | obj->JointInternal.NameInternal->size[1]; |
| 13020 | obj->JointInternal.NameInternal->size[0] = 1; |
| 13021 | obj->JointInternal.NameInternal->size[1] = 11; |
| 13022 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.NameInternal, b_kstr); |
| 13023 | for (b_kstr = 0; b_kstr < 11; b_kstr++) { |
| 13024 | obj->JointInternal.NameInternal->data[b_kstr] = tmp_4[b_kstr]; |
| 13025 | } |
| 13026 | |
| 13027 | b_kstr = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1]; |
| 13028 | obj->JointInternal.Type->size[0] = 1; |
| 13029 | obj->JointInternal.Type->size[1] = 8; |
| 13030 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.Type, b_kstr); |
| 13031 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 13032 | obj->JointInternal.Type->data[b_kstr] = tmp_5[b_kstr]; |
| 13033 | } |
| 13034 | |
| 13035 | cartesian_trajec_emxInit_char_T(&switch_expression, 2); |
| 13036 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 13037 | switch_expression->size[0] = 1; |
| 13038 | switch_expression->size[1] = obj->JointInternal.Type->size[1]; |
| 13039 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr); |
| 13040 | loop_ub = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1] |
| 13041 | - 1; |
| 13042 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 13043 | switch_expression->data[b_kstr] = obj->JointInternal.Type->data[b_kstr]; |
| 13044 | } |
| 13045 | |
| 13046 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 13047 | b[b_kstr] = tmp_5[b_kstr]; |
| 13048 | } |
| 13049 | |
| 13050 | b_bool = false; |
| 13051 | if (switch_expression->size[1] == 8) { |
| 13052 | b_kstr = 1; |
| 13053 | do { |
| 13054 | exitg1 = 0; |
| 13055 | if (b_kstr - 1 < 8) { |
| 13056 | loop_ub = b_kstr - 1; |
| 13057 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 13058 | exitg1 = 1; |
| 13059 | } else { |
| 13060 | b_kstr++; |
| 13061 | } |
| 13062 | } else { |
| 13063 | b_bool = true; |
| 13064 | exitg1 = 1; |
| 13065 | } |
| 13066 | } while (exitg1 == 0); |
| 13067 | } |
| 13068 | |
| 13069 | if (b_bool) { |
| 13070 | b_kstr = 0; |
| 13071 | } else { |
| 13072 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 13073 | b_0[b_kstr] = tmp_6[b_kstr]; |
| 13074 | } |
| 13075 | |
| 13076 | b_bool = false; |
| 13077 | if (switch_expression->size[1] == 9) { |
| 13078 | b_kstr = 1; |
| 13079 | do { |
| 13080 | exitg1 = 0; |
| 13081 | if (b_kstr - 1 < 9) { |
| 13082 | loop_ub = b_kstr - 1; |
| 13083 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 13084 | exitg1 = 1; |
| 13085 | } else { |
| 13086 | b_kstr++; |
| 13087 | } |
| 13088 | } else { |
| 13089 | b_bool = true; |
| 13090 | exitg1 = 1; |
| 13091 | } |
| 13092 | } while (exitg1 == 0); |
| 13093 | } |
| 13094 | |
| 13095 | if (b_bool) { |
| 13096 | b_kstr = 1; |
| 13097 | } else { |
| 13098 | b_kstr = -1; |
| 13099 | } |
| 13100 | } |
| 13101 | |
| 13102 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 13103 | switch (b_kstr) { |
| 13104 | case 0: |
| 13105 | tmp[0] = 0; |
| 13106 | tmp[1] = 0; |
| 13107 | tmp[2] = 1; |
| 13108 | tmp[3] = 0; |
| 13109 | tmp[4] = 0; |
| 13110 | tmp[5] = 0; |
| 13111 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 13112 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 13113 | } |
| 13114 | |
| 13115 | poslim_data[0] = -3.1415926535897931; |
| 13116 | poslim_data[1] = 3.1415926535897931; |
| 13117 | obj->JointInternal.VelocityNumber = 1.0; |
| 13118 | obj->JointInternal.PositionNumber = 1.0; |
| 13119 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 13120 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 13121 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 13122 | break; |
| 13123 | |
| 13124 | case 1: |
| 13125 | tmp[0] = 0; |
| 13126 | tmp[1] = 0; |
| 13127 | tmp[2] = 0; |
| 13128 | tmp[3] = 0; |
| 13129 | tmp[4] = 0; |
| 13130 | tmp[5] = 1; |
| 13131 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 13132 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 13133 | } |
| 13134 | |
| 13135 | poslim_data[0] = -0.5; |
| 13136 | poslim_data[1] = 0.5; |
| 13137 | obj->JointInternal.VelocityNumber = 1.0; |
| 13138 | obj->JointInternal.PositionNumber = 1.0; |
| 13139 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 13140 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 13141 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 13142 | break; |
| 13143 | |
| 13144 | default: |
| 13145 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 13146 | msubspace_data[b_kstr] = 0; |
| 13147 | } |
| 13148 | |
| 13149 | poslim_data[0] = 0.0; |
| 13150 | poslim_data[1] = 0.0; |
| 13151 | obj->JointInternal.VelocityNumber = 0.0; |
| 13152 | obj->JointInternal.PositionNumber = 0.0; |
| 13153 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 13154 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 13155 | obj->JointInternal.JointAxisInternal[2] = 0.0; |
| 13156 | break; |
| 13157 | } |
| 13158 | |
| 13159 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 13160 | obj->JointInternal.MotionSubspace->size[1]; |
| 13161 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 13162 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 13163 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 13164 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 13165 | obj->JointInternal.MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 13166 | } |
| 13167 | |
| 13168 | b_kstr = obj->JointInternal.PositionLimitsInternal->size[0] * |
| 13169 | obj->JointInternal.PositionLimitsInternal->size[1]; |
| 13170 | obj->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 13171 | obj->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 13172 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.PositionLimitsInternal, |
| 13173 | b_kstr); |
| 13174 | for (b_kstr = 0; b_kstr < 2; b_kstr++) { |
| 13175 | obj->JointInternal.PositionLimitsInternal->data[b_kstr] = poslim_data[b_kstr]; |
| 13176 | } |
| 13177 | |
| 13178 | b_kstr = obj->JointInternal.HomePositionInternal->size[0]; |
| 13179 | obj->JointInternal.HomePositionInternal->size[0] = 1; |
| 13180 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.HomePositionInternal, |
| 13181 | b_kstr); |
| 13182 | for (b_kstr = 0; b_kstr < 1; b_kstr++) { |
| 13183 | obj->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 13184 | } |
| 13185 | |
| 13186 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 13187 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_7[b_kstr]; |
| 13188 | } |
| 13189 | |
| 13190 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 13191 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_8[b_kstr]; |
| 13192 | } |
| 13193 | |
| 13194 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 13195 | obj->JointInternal.MotionSubspace->size[1]; |
| 13196 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 13197 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 13198 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 13199 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 13200 | obj->JointInternal.MotionSubspace->data[b_kstr] = tmp_9[b_kstr]; |
| 13201 | } |
| 13202 | |
| 13203 | obj->JointInternal.InTree = true; |
| 13204 | b_kstr = obj->JointInternal.PositionLimitsInternal->size[0] * |
| 13205 | obj->JointInternal.PositionLimitsInternal->size[1]; |
| 13206 | obj->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 13207 | obj->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 13208 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.PositionLimitsInternal, |
| 13209 | b_kstr); |
| 13210 | obj->JointInternal.PositionLimitsInternal->data[0] = -3.10668606855; |
| 13211 | obj->JointInternal.PositionLimitsInternal->data |
| 13212 | [obj->JointInternal.PositionLimitsInternal->size[0]] = 3.10668606855; |
| 13213 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 13214 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 13215 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 13216 | b_kstr = obj->JointInternal.HomePositionInternal->size[0]; |
| 13217 | obj->JointInternal.HomePositionInternal->size[0] = 1; |
| 13218 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.HomePositionInternal, |
| 13219 | b_kstr); |
| 13220 | obj->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 13221 | return b_obj; |
| 13222 | } |
| 13223 | |
| 13224 | static v_robotics_manip_internal_Rig_T *RigidBody_RigidBody_astwhqf2azt |
| 13225 | (v_robotics_manip_internal_Rig_T *obj) |
| 13226 | { |
| 13227 | v_robotics_manip_internal_Rig_T *b_obj; |
| 13228 | int8_T msubspace_data[36]; |
| 13229 | real_T poslim_data[12]; |
| 13230 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 13231 | boolean_T b_bool; |
| 13232 | int32_T b_kstr; |
| 13233 | char_T b[8]; |
| 13234 | char_T b_0[9]; |
| 13235 | int32_T loop_ub; |
| 13236 | int8_T tmp[6]; |
| 13237 | static const char_T tmp_0[10] = { 'e', 'd', 'o', '_', 'l', 'i', 'n', 'k', '_', |
| 13238 | '2' }; |
| 13239 | |
| 13240 | static const real_T tmp_1[9] = { 0.012452446533447339, 0.00097164648860403489, |
| 13241 | -0.0012079400901817208, 0.00097164648860403489, 0.0077631932790618, |
| 13242 | 0.0060529024261622953, -0.0012079400901817208, 0.0060529024261622953, |
| 13243 | 0.0051581160550583753 }; |
| 13244 | |
| 13245 | static const real_T tmp_2[36] = { 0.012452446533447339, 0.00097164648860403489, |
| 13246 | -0.0012079400901817208, 0.0, 0.0036112478581453288, 0.0024995324199659588, |
| 13247 | 0.00097164648860403489, 0.0077631932790618, 0.0060529024261622953, |
| 13248 | -0.0036112478581453288, 0.0, 0.0012907531029494371, -0.0012079400901817208, |
| 13249 | 0.0060529024261622953, 0.0051581160550583753, -0.0024995324199659588, |
| 13250 | -0.0012907531029494371, 0.0, 0.0, -0.0036112478581453288, |
| 13251 | -0.0024995324199659588, 0.0785942338762368, 0.0, 0.0, 0.0036112478581453288, |
| 13252 | 0.0, -0.0012907531029494371, 0.0, 0.0785942338762368, 0.0, |
| 13253 | 0.0024995324199659588, 0.0012907531029494371, 0.0, 0.0, 0.0, |
| 13254 | 0.0785942338762368 }; |
| 13255 | |
| 13256 | static const int8_T tmp_3[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, |
| 13257 | 1 }; |
| 13258 | |
| 13259 | static const char_T tmp_4[11] = { 'e', 'd', 'o', '_', 'j', 'o', 'i', 'n', 't', |
| 13260 | '_', '2' }; |
| 13261 | |
| 13262 | static const char_T tmp_5[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 13263 | |
| 13264 | static const char_T tmp_6[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 13265 | |
| 13266 | static const real_T tmp_7[16] = { 1.0, 0.0, -0.0, 0.0, 0.0, |
| 13267 | 4.8965888601467475E-12, 1.0, 0.0, 0.0, -1.0, 4.8965888601467475E-12, 0.0, |
| 13268 | 0.0, 0.0, 0.0, 1.0 }; |
| 13269 | |
| 13270 | static const real_T tmp_8[16] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 13271 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 13272 | |
| 13273 | static const real_T tmp_9[36] = { 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 13274 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 13275 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; |
| 13276 | |
| 13277 | int32_T exitg1; |
| 13278 | b_obj = obj; |
| 13279 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 13280 | obj->NameInternal->size[0] = 1; |
| 13281 | obj->NameInternal->size[1] = 10; |
| 13282 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr); |
| 13283 | for (b_kstr = 0; b_kstr < 10; b_kstr++) { |
| 13284 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 13285 | } |
| 13286 | |
| 13287 | obj->ParentIndex = 2.0; |
| 13288 | obj->MassInternal = 0.0785942338762368; |
| 13289 | obj->CenterOfMassInternal[0] = -0.016423; |
| 13290 | obj->CenterOfMassInternal[1] = 0.031803; |
| 13291 | obj->CenterOfMassInternal[2] = -0.045948; |
| 13292 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 13293 | obj->InertiaInternal[b_kstr] = tmp_1[b_kstr]; |
| 13294 | } |
| 13295 | |
| 13296 | for (b_kstr = 0; b_kstr < 36; b_kstr++) { |
| 13297 | obj->SpatialInertia[b_kstr] = tmp_2[b_kstr]; |
| 13298 | } |
| 13299 | |
| 13300 | obj->JointInternal.InTree = false; |
| 13301 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 13302 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_3[b_kstr]; |
| 13303 | } |
| 13304 | |
| 13305 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 13306 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_3[b_kstr]; |
| 13307 | } |
| 13308 | |
| 13309 | b_kstr = obj->JointInternal.NameInternal->size[0] * |
| 13310 | obj->JointInternal.NameInternal->size[1]; |
| 13311 | obj->JointInternal.NameInternal->size[0] = 1; |
| 13312 | obj->JointInternal.NameInternal->size[1] = 11; |
| 13313 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.NameInternal, b_kstr); |
| 13314 | for (b_kstr = 0; b_kstr < 11; b_kstr++) { |
| 13315 | obj->JointInternal.NameInternal->data[b_kstr] = tmp_4[b_kstr]; |
| 13316 | } |
| 13317 | |
| 13318 | b_kstr = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1]; |
| 13319 | obj->JointInternal.Type->size[0] = 1; |
| 13320 | obj->JointInternal.Type->size[1] = 8; |
| 13321 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.Type, b_kstr); |
| 13322 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 13323 | obj->JointInternal.Type->data[b_kstr] = tmp_5[b_kstr]; |
| 13324 | } |
| 13325 | |
| 13326 | cartesian_trajec_emxInit_char_T(&switch_expression, 2); |
| 13327 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 13328 | switch_expression->size[0] = 1; |
| 13329 | switch_expression->size[1] = obj->JointInternal.Type->size[1]; |
| 13330 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr); |
| 13331 | loop_ub = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1] |
| 13332 | - 1; |
| 13333 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 13334 | switch_expression->data[b_kstr] = obj->JointInternal.Type->data[b_kstr]; |
| 13335 | } |
| 13336 | |
| 13337 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 13338 | b[b_kstr] = tmp_5[b_kstr]; |
| 13339 | } |
| 13340 | |
| 13341 | b_bool = false; |
| 13342 | if (switch_expression->size[1] == 8) { |
| 13343 | b_kstr = 1; |
| 13344 | do { |
| 13345 | exitg1 = 0; |
| 13346 | if (b_kstr - 1 < 8) { |
| 13347 | loop_ub = b_kstr - 1; |
| 13348 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 13349 | exitg1 = 1; |
| 13350 | } else { |
| 13351 | b_kstr++; |
| 13352 | } |
| 13353 | } else { |
| 13354 | b_bool = true; |
| 13355 | exitg1 = 1; |
| 13356 | } |
| 13357 | } while (exitg1 == 0); |
| 13358 | } |
| 13359 | |
| 13360 | if (b_bool) { |
| 13361 | b_kstr = 0; |
| 13362 | } else { |
| 13363 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 13364 | b_0[b_kstr] = tmp_6[b_kstr]; |
| 13365 | } |
| 13366 | |
| 13367 | b_bool = false; |
| 13368 | if (switch_expression->size[1] == 9) { |
| 13369 | b_kstr = 1; |
| 13370 | do { |
| 13371 | exitg1 = 0; |
| 13372 | if (b_kstr - 1 < 9) { |
| 13373 | loop_ub = b_kstr - 1; |
| 13374 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 13375 | exitg1 = 1; |
| 13376 | } else { |
| 13377 | b_kstr++; |
| 13378 | } |
| 13379 | } else { |
| 13380 | b_bool = true; |
| 13381 | exitg1 = 1; |
| 13382 | } |
| 13383 | } while (exitg1 == 0); |
| 13384 | } |
| 13385 | |
| 13386 | if (b_bool) { |
| 13387 | b_kstr = 1; |
| 13388 | } else { |
| 13389 | b_kstr = -1; |
| 13390 | } |
| 13391 | } |
| 13392 | |
| 13393 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 13394 | switch (b_kstr) { |
| 13395 | case 0: |
| 13396 | tmp[0] = 0; |
| 13397 | tmp[1] = 0; |
| 13398 | tmp[2] = 1; |
| 13399 | tmp[3] = 0; |
| 13400 | tmp[4] = 0; |
| 13401 | tmp[5] = 0; |
| 13402 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 13403 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 13404 | } |
| 13405 | |
| 13406 | poslim_data[0] = -3.1415926535897931; |
| 13407 | poslim_data[1] = 3.1415926535897931; |
| 13408 | obj->JointInternal.VelocityNumber = 1.0; |
| 13409 | obj->JointInternal.PositionNumber = 1.0; |
| 13410 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 13411 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 13412 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 13413 | break; |
| 13414 | |
| 13415 | case 1: |
| 13416 | tmp[0] = 0; |
| 13417 | tmp[1] = 0; |
| 13418 | tmp[2] = 0; |
| 13419 | tmp[3] = 0; |
| 13420 | tmp[4] = 0; |
| 13421 | tmp[5] = 1; |
| 13422 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 13423 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 13424 | } |
| 13425 | |
| 13426 | poslim_data[0] = -0.5; |
| 13427 | poslim_data[1] = 0.5; |
| 13428 | obj->JointInternal.VelocityNumber = 1.0; |
| 13429 | obj->JointInternal.PositionNumber = 1.0; |
| 13430 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 13431 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 13432 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 13433 | break; |
| 13434 | |
| 13435 | default: |
| 13436 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 13437 | msubspace_data[b_kstr] = 0; |
| 13438 | } |
| 13439 | |
| 13440 | poslim_data[0] = 0.0; |
| 13441 | poslim_data[1] = 0.0; |
| 13442 | obj->JointInternal.VelocityNumber = 0.0; |
| 13443 | obj->JointInternal.PositionNumber = 0.0; |
| 13444 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 13445 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 13446 | obj->JointInternal.JointAxisInternal[2] = 0.0; |
| 13447 | break; |
| 13448 | } |
| 13449 | |
| 13450 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 13451 | obj->JointInternal.MotionSubspace->size[1]; |
| 13452 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 13453 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 13454 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 13455 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 13456 | obj->JointInternal.MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 13457 | } |
| 13458 | |
| 13459 | b_kstr = obj->JointInternal.PositionLimitsInternal->size[0] * |
| 13460 | obj->JointInternal.PositionLimitsInternal->size[1]; |
| 13461 | obj->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 13462 | obj->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 13463 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.PositionLimitsInternal, |
| 13464 | b_kstr); |
| 13465 | for (b_kstr = 0; b_kstr < 2; b_kstr++) { |
| 13466 | obj->JointInternal.PositionLimitsInternal->data[b_kstr] = poslim_data[b_kstr]; |
| 13467 | } |
| 13468 | |
| 13469 | b_kstr = obj->JointInternal.HomePositionInternal->size[0]; |
| 13470 | obj->JointInternal.HomePositionInternal->size[0] = 1; |
| 13471 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.HomePositionInternal, |
| 13472 | b_kstr); |
| 13473 | for (b_kstr = 0; b_kstr < 1; b_kstr++) { |
| 13474 | obj->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 13475 | } |
| 13476 | |
| 13477 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 13478 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_7[b_kstr]; |
| 13479 | } |
| 13480 | |
| 13481 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 13482 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_8[b_kstr]; |
| 13483 | } |
| 13484 | |
| 13485 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 13486 | obj->JointInternal.MotionSubspace->size[1]; |
| 13487 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 13488 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 13489 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 13490 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 13491 | obj->JointInternal.MotionSubspace->data[b_kstr] = tmp_9[b_kstr]; |
| 13492 | } |
| 13493 | |
| 13494 | obj->JointInternal.InTree = true; |
| 13495 | b_kstr = obj->JointInternal.PositionLimitsInternal->size[0] * |
| 13496 | obj->JointInternal.PositionLimitsInternal->size[1]; |
| 13497 | obj->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 13498 | obj->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 13499 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.PositionLimitsInternal, |
| 13500 | b_kstr); |
| 13501 | obj->JointInternal.PositionLimitsInternal->data[0] = -1.71042266695; |
| 13502 | obj->JointInternal.PositionLimitsInternal->data |
| 13503 | [obj->JointInternal.PositionLimitsInternal->size[0]] = 1.71042266695; |
| 13504 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 13505 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 13506 | obj->JointInternal.JointAxisInternal[2] = -1.0; |
| 13507 | b_kstr = obj->JointInternal.HomePositionInternal->size[0]; |
| 13508 | obj->JointInternal.HomePositionInternal->size[0] = 1; |
| 13509 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.HomePositionInternal, |
| 13510 | b_kstr); |
| 13511 | obj->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 13512 | return b_obj; |
| 13513 | } |
| 13514 | |
| 13515 | static v_robotics_manip_internal_Rig_T *RigidBody_RigidBod_astwhqf2aztt |
| 13516 | (v_robotics_manip_internal_Rig_T *obj) |
| 13517 | { |
| 13518 | v_robotics_manip_internal_Rig_T *b_obj; |
| 13519 | int8_T msubspace_data[36]; |
| 13520 | real_T poslim_data[12]; |
| 13521 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 13522 | boolean_T b_bool; |
| 13523 | int32_T b_kstr; |
| 13524 | char_T b[8]; |
| 13525 | char_T b_0[9]; |
| 13526 | int32_T loop_ub; |
| 13527 | int8_T tmp[6]; |
| 13528 | static const char_T tmp_0[10] = { 'e', 'd', 'o', '_', 'l', 'i', 'n', 'k', '_', |
| 13529 | '3' }; |
| 13530 | |
| 13531 | static const real_T tmp_1[9] = { 0.0123976159829631, 0.00022039108420015264, |
| 13532 | 2.1332825710116445E-6, 0.00022039108420015264, 0.00014803877895089843, |
| 13533 | -9.2077339045129963E-5, 2.1332825710116445E-6, -9.2077339045129963E-5, |
| 13534 | 0.012477575138803739 }; |
| 13535 | |
| 13536 | static const real_T tmp_2[36] = { 0.0123976159829631, 0.00022039108420015264, |
| 13537 | 2.1332825710116445E-6, 0.0, -2.56217202436532E-5, 0.0010295844637787021, |
| 13538 | 0.00022039108420015264, 0.00014803877895089843, -9.2077339045129963E-5, |
| 13539 | 2.56217202436532E-5, 0.0, 0.0024737535112545539, 2.1332825710116445E-6, |
| 13540 | -9.2077339045129963E-5, 0.012477575138803739, -0.0010295844637787021, |
| 13541 | -0.0024737535112545539, 0.0, 0.0, 2.56217202436532E-5, |
| 13542 | -0.0010295844637787021, 0.0785942338762368, 0.0, 0.0, -2.56217202436532E-5, |
| 13543 | 0.0, -0.0024737535112545539, 0.0, 0.0785942338762368, 0.0, |
| 13544 | 0.0010295844637787021, 0.0024737535112545539, 0.0, 0.0, 0.0, |
| 13545 | 0.0785942338762368 }; |
| 13546 | |
| 13547 | static const int8_T tmp_3[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, |
| 13548 | 1 }; |
| 13549 | |
| 13550 | static const char_T tmp_4[11] = { 'e', 'd', 'o', '_', 'j', 'o', 'i', 'n', 't', |
| 13551 | '_', '3' }; |
| 13552 | |
| 13553 | static const char_T tmp_5[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 13554 | |
| 13555 | static const char_T tmp_6[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 13556 | |
| 13557 | static const real_T tmp_7[16] = { 1.0, 2.0682310711021444E-13, |
| 13558 | 2.0682310711021444E-13, 0.0, 2.0682310711021444E-13, -1.0, -0.0, 0.0, |
| 13559 | 2.0682310711021444E-13, 4.2775797634723234E-26, -1.0, 0.0, 0.0, 0.2105, 0.0, |
| 13560 | 1.0 }; |
| 13561 | |
| 13562 | static const real_T tmp_8[16] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 13563 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 13564 | |
| 13565 | static const real_T tmp_9[36] = { 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 13566 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 13567 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; |
| 13568 | |
| 13569 | int32_T exitg1; |
| 13570 | b_obj = obj; |
| 13571 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 13572 | obj->NameInternal->size[0] = 1; |
| 13573 | obj->NameInternal->size[1] = 10; |
| 13574 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr); |
| 13575 | for (b_kstr = 0; b_kstr < 10; b_kstr++) { |
| 13576 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 13577 | } |
| 13578 | |
| 13579 | obj->ParentIndex = 3.0; |
| 13580 | obj->MassInternal = 0.0785942338762368; |
| 13581 | obj->CenterOfMassInternal[0] = -0.031475; |
| 13582 | obj->CenterOfMassInternal[1] = 0.0131; |
| 13583 | obj->CenterOfMassInternal[2] = 0.000326; |
| 13584 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 13585 | obj->InertiaInternal[b_kstr] = tmp_1[b_kstr]; |
| 13586 | } |
| 13587 | |
| 13588 | for (b_kstr = 0; b_kstr < 36; b_kstr++) { |
| 13589 | obj->SpatialInertia[b_kstr] = tmp_2[b_kstr]; |
| 13590 | } |
| 13591 | |
| 13592 | obj->JointInternal.InTree = false; |
| 13593 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 13594 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_3[b_kstr]; |
| 13595 | } |
| 13596 | |
| 13597 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 13598 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_3[b_kstr]; |
| 13599 | } |
| 13600 | |
| 13601 | b_kstr = obj->JointInternal.NameInternal->size[0] * |
| 13602 | obj->JointInternal.NameInternal->size[1]; |
| 13603 | obj->JointInternal.NameInternal->size[0] = 1; |
| 13604 | obj->JointInternal.NameInternal->size[1] = 11; |
| 13605 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.NameInternal, b_kstr); |
| 13606 | for (b_kstr = 0; b_kstr < 11; b_kstr++) { |
| 13607 | obj->JointInternal.NameInternal->data[b_kstr] = tmp_4[b_kstr]; |
| 13608 | } |
| 13609 | |
| 13610 | b_kstr = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1]; |
| 13611 | obj->JointInternal.Type->size[0] = 1; |
| 13612 | obj->JointInternal.Type->size[1] = 8; |
| 13613 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.Type, b_kstr); |
| 13614 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 13615 | obj->JointInternal.Type->data[b_kstr] = tmp_5[b_kstr]; |
| 13616 | } |
| 13617 | |
| 13618 | cartesian_trajec_emxInit_char_T(&switch_expression, 2); |
| 13619 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 13620 | switch_expression->size[0] = 1; |
| 13621 | switch_expression->size[1] = obj->JointInternal.Type->size[1]; |
| 13622 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr); |
| 13623 | loop_ub = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1] |
| 13624 | - 1; |
| 13625 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 13626 | switch_expression->data[b_kstr] = obj->JointInternal.Type->data[b_kstr]; |
| 13627 | } |
| 13628 | |
| 13629 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 13630 | b[b_kstr] = tmp_5[b_kstr]; |
| 13631 | } |
| 13632 | |
| 13633 | b_bool = false; |
| 13634 | if (switch_expression->size[1] == 8) { |
| 13635 | b_kstr = 1; |
| 13636 | do { |
| 13637 | exitg1 = 0; |
| 13638 | if (b_kstr - 1 < 8) { |
| 13639 | loop_ub = b_kstr - 1; |
| 13640 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 13641 | exitg1 = 1; |
| 13642 | } else { |
| 13643 | b_kstr++; |
| 13644 | } |
| 13645 | } else { |
| 13646 | b_bool = true; |
| 13647 | exitg1 = 1; |
| 13648 | } |
| 13649 | } while (exitg1 == 0); |
| 13650 | } |
| 13651 | |
| 13652 | if (b_bool) { |
| 13653 | b_kstr = 0; |
| 13654 | } else { |
| 13655 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 13656 | b_0[b_kstr] = tmp_6[b_kstr]; |
| 13657 | } |
| 13658 | |
| 13659 | b_bool = false; |
| 13660 | if (switch_expression->size[1] == 9) { |
| 13661 | b_kstr = 1; |
| 13662 | do { |
| 13663 | exitg1 = 0; |
| 13664 | if (b_kstr - 1 < 9) { |
| 13665 | loop_ub = b_kstr - 1; |
| 13666 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 13667 | exitg1 = 1; |
| 13668 | } else { |
| 13669 | b_kstr++; |
| 13670 | } |
| 13671 | } else { |
| 13672 | b_bool = true; |
| 13673 | exitg1 = 1; |
| 13674 | } |
| 13675 | } while (exitg1 == 0); |
| 13676 | } |
| 13677 | |
| 13678 | if (b_bool) { |
| 13679 | b_kstr = 1; |
| 13680 | } else { |
| 13681 | b_kstr = -1; |
| 13682 | } |
| 13683 | } |
| 13684 | |
| 13685 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 13686 | switch (b_kstr) { |
| 13687 | case 0: |
| 13688 | tmp[0] = 0; |
| 13689 | tmp[1] = 0; |
| 13690 | tmp[2] = 1; |
| 13691 | tmp[3] = 0; |
| 13692 | tmp[4] = 0; |
| 13693 | tmp[5] = 0; |
| 13694 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 13695 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 13696 | } |
| 13697 | |
| 13698 | poslim_data[0] = -3.1415926535897931; |
| 13699 | poslim_data[1] = 3.1415926535897931; |
| 13700 | obj->JointInternal.VelocityNumber = 1.0; |
| 13701 | obj->JointInternal.PositionNumber = 1.0; |
| 13702 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 13703 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 13704 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 13705 | break; |
| 13706 | |
| 13707 | case 1: |
| 13708 | tmp[0] = 0; |
| 13709 | tmp[1] = 0; |
| 13710 | tmp[2] = 0; |
| 13711 | tmp[3] = 0; |
| 13712 | tmp[4] = 0; |
| 13713 | tmp[5] = 1; |
| 13714 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 13715 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 13716 | } |
| 13717 | |
| 13718 | poslim_data[0] = -0.5; |
| 13719 | poslim_data[1] = 0.5; |
| 13720 | obj->JointInternal.VelocityNumber = 1.0; |
| 13721 | obj->JointInternal.PositionNumber = 1.0; |
| 13722 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 13723 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 13724 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 13725 | break; |
| 13726 | |
| 13727 | default: |
| 13728 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 13729 | msubspace_data[b_kstr] = 0; |
| 13730 | } |
| 13731 | |
| 13732 | poslim_data[0] = 0.0; |
| 13733 | poslim_data[1] = 0.0; |
| 13734 | obj->JointInternal.VelocityNumber = 0.0; |
| 13735 | obj->JointInternal.PositionNumber = 0.0; |
| 13736 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 13737 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 13738 | obj->JointInternal.JointAxisInternal[2] = 0.0; |
| 13739 | break; |
| 13740 | } |
| 13741 | |
| 13742 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 13743 | obj->JointInternal.MotionSubspace->size[1]; |
| 13744 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 13745 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 13746 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 13747 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 13748 | obj->JointInternal.MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 13749 | } |
| 13750 | |
| 13751 | b_kstr = obj->JointInternal.PositionLimitsInternal->size[0] * |
| 13752 | obj->JointInternal.PositionLimitsInternal->size[1]; |
| 13753 | obj->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 13754 | obj->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 13755 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.PositionLimitsInternal, |
| 13756 | b_kstr); |
| 13757 | for (b_kstr = 0; b_kstr < 2; b_kstr++) { |
| 13758 | obj->JointInternal.PositionLimitsInternal->data[b_kstr] = poslim_data[b_kstr]; |
| 13759 | } |
| 13760 | |
| 13761 | b_kstr = obj->JointInternal.HomePositionInternal->size[0]; |
| 13762 | obj->JointInternal.HomePositionInternal->size[0] = 1; |
| 13763 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.HomePositionInternal, |
| 13764 | b_kstr); |
| 13765 | for (b_kstr = 0; b_kstr < 1; b_kstr++) { |
| 13766 | obj->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 13767 | } |
| 13768 | |
| 13769 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 13770 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_7[b_kstr]; |
| 13771 | } |
| 13772 | |
| 13773 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 13774 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_8[b_kstr]; |
| 13775 | } |
| 13776 | |
| 13777 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 13778 | obj->JointInternal.MotionSubspace->size[1]; |
| 13779 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 13780 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 13781 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 13782 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 13783 | obj->JointInternal.MotionSubspace->data[b_kstr] = tmp_9[b_kstr]; |
| 13784 | } |
| 13785 | |
| 13786 | obj->JointInternal.InTree = true; |
| 13787 | b_kstr = obj->JointInternal.PositionLimitsInternal->size[0] * |
| 13788 | obj->JointInternal.PositionLimitsInternal->size[1]; |
| 13789 | obj->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 13790 | obj->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 13791 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.PositionLimitsInternal, |
| 13792 | b_kstr); |
| 13793 | obj->JointInternal.PositionLimitsInternal->data[0] = -1.71042266695; |
| 13794 | obj->JointInternal.PositionLimitsInternal->data |
| 13795 | [obj->JointInternal.PositionLimitsInternal->size[0]] = 1.71042266695; |
| 13796 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 13797 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 13798 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 13799 | b_kstr = obj->JointInternal.HomePositionInternal->size[0]; |
| 13800 | obj->JointInternal.HomePositionInternal->size[0] = 1; |
| 13801 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.HomePositionInternal, |
| 13802 | b_kstr); |
| 13803 | obj->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 13804 | return b_obj; |
| 13805 | } |
| 13806 | |
| 13807 | static v_robotics_manip_internal_Rig_T *RigidBody_RigidBo_astwhqf2azttx |
| 13808 | (v_robotics_manip_internal_Rig_T *obj) |
| 13809 | { |
| 13810 | v_robotics_manip_internal_Rig_T *b_obj; |
| 13811 | int8_T msubspace_data[36]; |
| 13812 | real_T poslim_data[12]; |
| 13813 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 13814 | boolean_T b_bool; |
| 13815 | int32_T b_kstr; |
| 13816 | char_T b[8]; |
| 13817 | char_T b_0[9]; |
| 13818 | int32_T loop_ub; |
| 13819 | int8_T tmp[6]; |
| 13820 | static const char_T tmp_0[10] = { 'e', 'd', 'o', '_', 'l', 'i', 'n', 'k', '_', |
| 13821 | '4' }; |
| 13822 | |
| 13823 | static const real_T tmp_1[9] = { 0.0123990349928174, -2.7766271471639167E-6, |
| 13824 | 0.00022466935228286869, -2.7766271471639167E-6, 0.012491487094789458, |
| 13825 | 9.2330220708293281E-5, 0.00022466935228286869, 9.2330220708293281E-5, |
| 13826 | 0.00016056153744711284 }; |
| 13827 | |
| 13828 | static const real_T tmp_2[36] = { 0.0123990349928174, -2.7766271471639167E-6, |
| 13829 | 0.00022466935228286869, 0.0, 0.0010818496293063995, 4.275526322867282E-5, |
| 13830 | -2.7766271471639167E-6, 0.012491487094789458, 9.2330220708293281E-5, |
| 13831 | -0.0010818496293063995, 0.0, -0.0026650518765093138, 0.00022466935228286869, |
| 13832 | 9.2330220708293281E-5, 0.00016056153744711284, -4.275526322867282E-5, |
| 13833 | 0.0026650518765093138, 0.0, 0.0, -0.0010818496293063995, |
| 13834 | -4.275526322867282E-5, 0.0785942338762368, 0.0, 0.0, 0.0010818496293063995, |
| 13835 | 0.0, 0.0026650518765093138, 0.0, 0.0785942338762368, 0.0, |
| 13836 | 4.275526322867282E-5, -0.0026650518765093138, 0.0, 0.0, 0.0, |
| 13837 | 0.0785942338762368 }; |
| 13838 | |
| 13839 | static const int8_T tmp_3[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, |
| 13840 | 1 }; |
| 13841 | |
| 13842 | static const char_T tmp_4[11] = { 'e', 'd', 'o', '_', 'j', 'o', 'i', 'n', 't', |
| 13843 | '_', '4' }; |
| 13844 | |
| 13845 | static const char_T tmp_5[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 13846 | |
| 13847 | static const char_T tmp_6[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 13848 | |
| 13849 | static const real_T tmp_7[16] = { 1.0, 0.0, -0.0, 0.0, 0.0, |
| 13850 | 4.8965888601467475E-12, 1.0, 0.0, 0.0, -1.0, 4.8965888601467475E-12, 0.0, |
| 13851 | 0.0, -0.268, 0.0, 1.0 }; |
| 13852 | |
| 13853 | static const real_T tmp_8[16] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 13854 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 13855 | |
| 13856 | static const real_T tmp_9[36] = { 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 13857 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 13858 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; |
| 13859 | |
| 13860 | int32_T exitg1; |
| 13861 | b_obj = obj; |
| 13862 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 13863 | obj->NameInternal->size[0] = 1; |
| 13864 | obj->NameInternal->size[1] = 10; |
| 13865 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr); |
| 13866 | for (b_kstr = 0; b_kstr < 10; b_kstr++) { |
| 13867 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 13868 | } |
| 13869 | |
| 13870 | obj->ParentIndex = 4.0; |
| 13871 | obj->MassInternal = 0.0785942338762368; |
| 13872 | obj->CenterOfMassInternal[0] = 0.033909; |
| 13873 | obj->CenterOfMassInternal[1] = 0.000544; |
| 13874 | obj->CenterOfMassInternal[2] = -0.013765; |
| 13875 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 13876 | obj->InertiaInternal[b_kstr] = tmp_1[b_kstr]; |
| 13877 | } |
| 13878 | |
| 13879 | for (b_kstr = 0; b_kstr < 36; b_kstr++) { |
| 13880 | obj->SpatialInertia[b_kstr] = tmp_2[b_kstr]; |
| 13881 | } |
| 13882 | |
| 13883 | obj->JointInternal.InTree = false; |
| 13884 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 13885 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_3[b_kstr]; |
| 13886 | } |
| 13887 | |
| 13888 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 13889 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_3[b_kstr]; |
| 13890 | } |
| 13891 | |
| 13892 | b_kstr = obj->JointInternal.NameInternal->size[0] * |
| 13893 | obj->JointInternal.NameInternal->size[1]; |
| 13894 | obj->JointInternal.NameInternal->size[0] = 1; |
| 13895 | obj->JointInternal.NameInternal->size[1] = 11; |
| 13896 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.NameInternal, b_kstr); |
| 13897 | for (b_kstr = 0; b_kstr < 11; b_kstr++) { |
| 13898 | obj->JointInternal.NameInternal->data[b_kstr] = tmp_4[b_kstr]; |
| 13899 | } |
| 13900 | |
| 13901 | b_kstr = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1]; |
| 13902 | obj->JointInternal.Type->size[0] = 1; |
| 13903 | obj->JointInternal.Type->size[1] = 8; |
| 13904 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.Type, b_kstr); |
| 13905 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 13906 | obj->JointInternal.Type->data[b_kstr] = tmp_5[b_kstr]; |
| 13907 | } |
| 13908 | |
| 13909 | cartesian_trajec_emxInit_char_T(&switch_expression, 2); |
| 13910 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 13911 | switch_expression->size[0] = 1; |
| 13912 | switch_expression->size[1] = obj->JointInternal.Type->size[1]; |
| 13913 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr); |
| 13914 | loop_ub = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1] |
| 13915 | - 1; |
| 13916 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 13917 | switch_expression->data[b_kstr] = obj->JointInternal.Type->data[b_kstr]; |
| 13918 | } |
| 13919 | |
| 13920 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 13921 | b[b_kstr] = tmp_5[b_kstr]; |
| 13922 | } |
| 13923 | |
| 13924 | b_bool = false; |
| 13925 | if (switch_expression->size[1] == 8) { |
| 13926 | b_kstr = 1; |
| 13927 | do { |
| 13928 | exitg1 = 0; |
| 13929 | if (b_kstr - 1 < 8) { |
| 13930 | loop_ub = b_kstr - 1; |
| 13931 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 13932 | exitg1 = 1; |
| 13933 | } else { |
| 13934 | b_kstr++; |
| 13935 | } |
| 13936 | } else { |
| 13937 | b_bool = true; |
| 13938 | exitg1 = 1; |
| 13939 | } |
| 13940 | } while (exitg1 == 0); |
| 13941 | } |
| 13942 | |
| 13943 | if (b_bool) { |
| 13944 | b_kstr = 0; |
| 13945 | } else { |
| 13946 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 13947 | b_0[b_kstr] = tmp_6[b_kstr]; |
| 13948 | } |
| 13949 | |
| 13950 | b_bool = false; |
| 13951 | if (switch_expression->size[1] == 9) { |
| 13952 | b_kstr = 1; |
| 13953 | do { |
| 13954 | exitg1 = 0; |
| 13955 | if (b_kstr - 1 < 9) { |
| 13956 | loop_ub = b_kstr - 1; |
| 13957 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 13958 | exitg1 = 1; |
| 13959 | } else { |
| 13960 | b_kstr++; |
| 13961 | } |
| 13962 | } else { |
| 13963 | b_bool = true; |
| 13964 | exitg1 = 1; |
| 13965 | } |
| 13966 | } while (exitg1 == 0); |
| 13967 | } |
| 13968 | |
| 13969 | if (b_bool) { |
| 13970 | b_kstr = 1; |
| 13971 | } else { |
| 13972 | b_kstr = -1; |
| 13973 | } |
| 13974 | } |
| 13975 | |
| 13976 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 13977 | switch (b_kstr) { |
| 13978 | case 0: |
| 13979 | tmp[0] = 0; |
| 13980 | tmp[1] = 0; |
| 13981 | tmp[2] = 1; |
| 13982 | tmp[3] = 0; |
| 13983 | tmp[4] = 0; |
| 13984 | tmp[5] = 0; |
| 13985 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 13986 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 13987 | } |
| 13988 | |
| 13989 | poslim_data[0] = -3.1415926535897931; |
| 13990 | poslim_data[1] = 3.1415926535897931; |
| 13991 | obj->JointInternal.VelocityNumber = 1.0; |
| 13992 | obj->JointInternal.PositionNumber = 1.0; |
| 13993 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 13994 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 13995 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 13996 | break; |
| 13997 | |
| 13998 | case 1: |
| 13999 | tmp[0] = 0; |
| 14000 | tmp[1] = 0; |
| 14001 | tmp[2] = 0; |
| 14002 | tmp[3] = 0; |
| 14003 | tmp[4] = 0; |
| 14004 | tmp[5] = 1; |
| 14005 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 14006 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 14007 | } |
| 14008 | |
| 14009 | poslim_data[0] = -0.5; |
| 14010 | poslim_data[1] = 0.5; |
| 14011 | obj->JointInternal.VelocityNumber = 1.0; |
| 14012 | obj->JointInternal.PositionNumber = 1.0; |
| 14013 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 14014 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 14015 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 14016 | break; |
| 14017 | |
| 14018 | default: |
| 14019 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 14020 | msubspace_data[b_kstr] = 0; |
| 14021 | } |
| 14022 | |
| 14023 | poslim_data[0] = 0.0; |
| 14024 | poslim_data[1] = 0.0; |
| 14025 | obj->JointInternal.VelocityNumber = 0.0; |
| 14026 | obj->JointInternal.PositionNumber = 0.0; |
| 14027 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 14028 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 14029 | obj->JointInternal.JointAxisInternal[2] = 0.0; |
| 14030 | break; |
| 14031 | } |
| 14032 | |
| 14033 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 14034 | obj->JointInternal.MotionSubspace->size[1]; |
| 14035 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 14036 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 14037 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 14038 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 14039 | obj->JointInternal.MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 14040 | } |
| 14041 | |
| 14042 | b_kstr = obj->JointInternal.PositionLimitsInternal->size[0] * |
| 14043 | obj->JointInternal.PositionLimitsInternal->size[1]; |
| 14044 | obj->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 14045 | obj->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 14046 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.PositionLimitsInternal, |
| 14047 | b_kstr); |
| 14048 | for (b_kstr = 0; b_kstr < 2; b_kstr++) { |
| 14049 | obj->JointInternal.PositionLimitsInternal->data[b_kstr] = poslim_data[b_kstr]; |
| 14050 | } |
| 14051 | |
| 14052 | b_kstr = obj->JointInternal.HomePositionInternal->size[0]; |
| 14053 | obj->JointInternal.HomePositionInternal->size[0] = 1; |
| 14054 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.HomePositionInternal, |
| 14055 | b_kstr); |
| 14056 | for (b_kstr = 0; b_kstr < 1; b_kstr++) { |
| 14057 | obj->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 14058 | } |
| 14059 | |
| 14060 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 14061 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_7[b_kstr]; |
| 14062 | } |
| 14063 | |
| 14064 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 14065 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_8[b_kstr]; |
| 14066 | } |
| 14067 | |
| 14068 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 14069 | obj->JointInternal.MotionSubspace->size[1]; |
| 14070 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 14071 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 14072 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 14073 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 14074 | obj->JointInternal.MotionSubspace->data[b_kstr] = tmp_9[b_kstr]; |
| 14075 | } |
| 14076 | |
| 14077 | obj->JointInternal.InTree = true; |
| 14078 | b_kstr = obj->JointInternal.PositionLimitsInternal->size[0] * |
| 14079 | obj->JointInternal.PositionLimitsInternal->size[1]; |
| 14080 | obj->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 14081 | obj->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 14082 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.PositionLimitsInternal, |
| 14083 | b_kstr); |
| 14084 | obj->JointInternal.PositionLimitsInternal->data[0] = -3.10668606855; |
| 14085 | obj->JointInternal.PositionLimitsInternal->data |
| 14086 | [obj->JointInternal.PositionLimitsInternal->size[0]] = 3.10668606855; |
| 14087 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 14088 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 14089 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 14090 | b_kstr = obj->JointInternal.HomePositionInternal->size[0]; |
| 14091 | obj->JointInternal.HomePositionInternal->size[0] = 1; |
| 14092 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.HomePositionInternal, |
| 14093 | b_kstr); |
| 14094 | obj->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 14095 | return b_obj; |
| 14096 | } |
| 14097 | |
| 14098 | static v_robotics_manip_internal_Rig_T *RigidBody_RigidB_astwhqf2azttxa |
| 14099 | (v_robotics_manip_internal_Rig_T *obj) |
| 14100 | { |
| 14101 | v_robotics_manip_internal_Rig_T *b_obj; |
| 14102 | int8_T msubspace_data[36]; |
| 14103 | real_T poslim_data[12]; |
| 14104 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 14105 | boolean_T b_bool; |
| 14106 | int32_T b_kstr; |
| 14107 | char_T b[8]; |
| 14108 | char_T b_0[9]; |
| 14109 | int32_T loop_ub; |
| 14110 | int8_T tmp[6]; |
| 14111 | static const char_T tmp_0[10] = { 'e', 'd', 'o', '_', 'l', 'i', 'n', 'k', '_', |
| 14112 | '5' }; |
| 14113 | |
| 14114 | static const real_T tmp_1[9] = { 0.012440329403329006, 2.388185677857016E-6, |
| 14115 | 0.00012602126519218373, 2.388185677857016E-6, 0.012510746127660349, |
| 14116 | -9.077919321137075E-5, 0.00012602126519218373, -9.077919321137075E-5, |
| 14117 | 0.00013851261456175015 }; |
| 14118 | |
| 14119 | static const real_T tmp_2[36] = { 0.012440329403329006, 2.388185677857016E-6, |
| 14120 | 0.00012602126519218373, 0.0, -0.0021015312196166957, -3.5996159115316455E-5, |
| 14121 | 2.388185677857016E-6, 0.012510746127660349, -9.077919321137075E-5, |
| 14122 | 0.0021015312196166957, 0.0, -0.0023173509858408423, 0.00012602126519218373, |
| 14123 | -9.077919321137075E-5, 0.00013851261456175015, 3.5996159115316455E-5, |
| 14124 | 0.0023173509858408423, 0.0, 0.0, 0.0021015312196166957, |
| 14125 | 3.5996159115316455E-5, 0.0785942338762368, 0.0, 0.0, -0.0021015312196166957, |
| 14126 | 0.0, 0.0023173509858408423, 0.0, 0.0785942338762368, 0.0, |
| 14127 | -3.5996159115316455E-5, -0.0023173509858408423, 0.0, 0.0, 0.0, |
| 14128 | 0.0785942338762368 }; |
| 14129 | |
| 14130 | static const int8_T tmp_3[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, |
| 14131 | 1 }; |
| 14132 | |
| 14133 | static const char_T tmp_4[11] = { 'e', 'd', 'o', '_', 'j', 'o', 'i', 'n', 't', |
| 14134 | '_', '5' }; |
| 14135 | |
| 14136 | static const char_T tmp_5[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 14137 | |
| 14138 | static const char_T tmp_6[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 14139 | |
| 14140 | static const real_T tmp_7[16] = { 1.0, 0.0, -0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 14141 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 14142 | |
| 14143 | static const real_T tmp_8[16] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 14144 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 14145 | |
| 14146 | static const real_T tmp_9[36] = { 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 14147 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 14148 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; |
| 14149 | |
| 14150 | int32_T exitg1; |
| 14151 | b_obj = obj; |
| 14152 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 14153 | obj->NameInternal->size[0] = 1; |
| 14154 | obj->NameInternal->size[1] = 10; |
| 14155 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr); |
| 14156 | for (b_kstr = 0; b_kstr < 10; b_kstr++) { |
| 14157 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 14158 | } |
| 14159 | |
| 14160 | obj->ParentIndex = 5.0; |
| 14161 | obj->MassInternal = 0.0785942338762368; |
| 14162 | obj->CenterOfMassInternal[0] = 0.029485; |
| 14163 | obj->CenterOfMassInternal[1] = -0.000458; |
| 14164 | obj->CenterOfMassInternal[2] = 0.026739; |
| 14165 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 14166 | obj->InertiaInternal[b_kstr] = tmp_1[b_kstr]; |
| 14167 | } |
| 14168 | |
| 14169 | for (b_kstr = 0; b_kstr < 36; b_kstr++) { |
| 14170 | obj->SpatialInertia[b_kstr] = tmp_2[b_kstr]; |
| 14171 | } |
| 14172 | |
| 14173 | obj->JointInternal.InTree = false; |
| 14174 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 14175 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_3[b_kstr]; |
| 14176 | } |
| 14177 | |
| 14178 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 14179 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_3[b_kstr]; |
| 14180 | } |
| 14181 | |
| 14182 | b_kstr = obj->JointInternal.NameInternal->size[0] * |
| 14183 | obj->JointInternal.NameInternal->size[1]; |
| 14184 | obj->JointInternal.NameInternal->size[0] = 1; |
| 14185 | obj->JointInternal.NameInternal->size[1] = 11; |
| 14186 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.NameInternal, b_kstr); |
| 14187 | for (b_kstr = 0; b_kstr < 11; b_kstr++) { |
| 14188 | obj->JointInternal.NameInternal->data[b_kstr] = tmp_4[b_kstr]; |
| 14189 | } |
| 14190 | |
| 14191 | b_kstr = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1]; |
| 14192 | obj->JointInternal.Type->size[0] = 1; |
| 14193 | obj->JointInternal.Type->size[1] = 8; |
| 14194 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.Type, b_kstr); |
| 14195 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 14196 | obj->JointInternal.Type->data[b_kstr] = tmp_5[b_kstr]; |
| 14197 | } |
| 14198 | |
| 14199 | cartesian_trajec_emxInit_char_T(&switch_expression, 2); |
| 14200 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 14201 | switch_expression->size[0] = 1; |
| 14202 | switch_expression->size[1] = obj->JointInternal.Type->size[1]; |
| 14203 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr); |
| 14204 | loop_ub = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1] |
| 14205 | - 1; |
| 14206 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 14207 | switch_expression->data[b_kstr] = obj->JointInternal.Type->data[b_kstr]; |
| 14208 | } |
| 14209 | |
| 14210 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 14211 | b[b_kstr] = tmp_5[b_kstr]; |
| 14212 | } |
| 14213 | |
| 14214 | b_bool = false; |
| 14215 | if (switch_expression->size[1] == 8) { |
| 14216 | b_kstr = 1; |
| 14217 | do { |
| 14218 | exitg1 = 0; |
| 14219 | if (b_kstr - 1 < 8) { |
| 14220 | loop_ub = b_kstr - 1; |
| 14221 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 14222 | exitg1 = 1; |
| 14223 | } else { |
| 14224 | b_kstr++; |
| 14225 | } |
| 14226 | } else { |
| 14227 | b_bool = true; |
| 14228 | exitg1 = 1; |
| 14229 | } |
| 14230 | } while (exitg1 == 0); |
| 14231 | } |
| 14232 | |
| 14233 | if (b_bool) { |
| 14234 | b_kstr = 0; |
| 14235 | } else { |
| 14236 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 14237 | b_0[b_kstr] = tmp_6[b_kstr]; |
| 14238 | } |
| 14239 | |
| 14240 | b_bool = false; |
| 14241 | if (switch_expression->size[1] == 9) { |
| 14242 | b_kstr = 1; |
| 14243 | do { |
| 14244 | exitg1 = 0; |
| 14245 | if (b_kstr - 1 < 9) { |
| 14246 | loop_ub = b_kstr - 1; |
| 14247 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 14248 | exitg1 = 1; |
| 14249 | } else { |
| 14250 | b_kstr++; |
| 14251 | } |
| 14252 | } else { |
| 14253 | b_bool = true; |
| 14254 | exitg1 = 1; |
| 14255 | } |
| 14256 | } while (exitg1 == 0); |
| 14257 | } |
| 14258 | |
| 14259 | if (b_bool) { |
| 14260 | b_kstr = 1; |
| 14261 | } else { |
| 14262 | b_kstr = -1; |
| 14263 | } |
| 14264 | } |
| 14265 | |
| 14266 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 14267 | switch (b_kstr) { |
| 14268 | case 0: |
| 14269 | tmp[0] = 0; |
| 14270 | tmp[1] = 0; |
| 14271 | tmp[2] = 1; |
| 14272 | tmp[3] = 0; |
| 14273 | tmp[4] = 0; |
| 14274 | tmp[5] = 0; |
| 14275 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 14276 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 14277 | } |
| 14278 | |
| 14279 | poslim_data[0] = -3.1415926535897931; |
| 14280 | poslim_data[1] = 3.1415926535897931; |
| 14281 | obj->JointInternal.VelocityNumber = 1.0; |
| 14282 | obj->JointInternal.PositionNumber = 1.0; |
| 14283 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 14284 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 14285 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 14286 | break; |
| 14287 | |
| 14288 | case 1: |
| 14289 | tmp[0] = 0; |
| 14290 | tmp[1] = 0; |
| 14291 | tmp[2] = 0; |
| 14292 | tmp[3] = 0; |
| 14293 | tmp[4] = 0; |
| 14294 | tmp[5] = 1; |
| 14295 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 14296 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 14297 | } |
| 14298 | |
| 14299 | poslim_data[0] = -0.5; |
| 14300 | poslim_data[1] = 0.5; |
| 14301 | obj->JointInternal.VelocityNumber = 1.0; |
| 14302 | obj->JointInternal.PositionNumber = 1.0; |
| 14303 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 14304 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 14305 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 14306 | break; |
| 14307 | |
| 14308 | default: |
| 14309 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 14310 | msubspace_data[b_kstr] = 0; |
| 14311 | } |
| 14312 | |
| 14313 | poslim_data[0] = 0.0; |
| 14314 | poslim_data[1] = 0.0; |
| 14315 | obj->JointInternal.VelocityNumber = 0.0; |
| 14316 | obj->JointInternal.PositionNumber = 0.0; |
| 14317 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 14318 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 14319 | obj->JointInternal.JointAxisInternal[2] = 0.0; |
| 14320 | break; |
| 14321 | } |
| 14322 | |
| 14323 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 14324 | obj->JointInternal.MotionSubspace->size[1]; |
| 14325 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 14326 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 14327 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 14328 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 14329 | obj->JointInternal.MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 14330 | } |
| 14331 | |
| 14332 | b_kstr = obj->JointInternal.PositionLimitsInternal->size[0] * |
| 14333 | obj->JointInternal.PositionLimitsInternal->size[1]; |
| 14334 | obj->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 14335 | obj->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 14336 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.PositionLimitsInternal, |
| 14337 | b_kstr); |
| 14338 | for (b_kstr = 0; b_kstr < 2; b_kstr++) { |
| 14339 | obj->JointInternal.PositionLimitsInternal->data[b_kstr] = poslim_data[b_kstr]; |
| 14340 | } |
| 14341 | |
| 14342 | b_kstr = obj->JointInternal.HomePositionInternal->size[0]; |
| 14343 | obj->JointInternal.HomePositionInternal->size[0] = 1; |
| 14344 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.HomePositionInternal, |
| 14345 | b_kstr); |
| 14346 | for (b_kstr = 0; b_kstr < 1; b_kstr++) { |
| 14347 | obj->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 14348 | } |
| 14349 | |
| 14350 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 14351 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_7[b_kstr]; |
| 14352 | } |
| 14353 | |
| 14354 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 14355 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_8[b_kstr]; |
| 14356 | } |
| 14357 | |
| 14358 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 14359 | obj->JointInternal.MotionSubspace->size[1]; |
| 14360 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 14361 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 14362 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 14363 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 14364 | obj->JointInternal.MotionSubspace->data[b_kstr] = tmp_9[b_kstr]; |
| 14365 | } |
| 14366 | |
| 14367 | obj->JointInternal.InTree = true; |
| 14368 | b_kstr = obj->JointInternal.PositionLimitsInternal->size[0] * |
| 14369 | obj->JointInternal.PositionLimitsInternal->size[1]; |
| 14370 | obj->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 14371 | obj->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 14372 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.PositionLimitsInternal, |
| 14373 | b_kstr); |
| 14374 | obj->JointInternal.PositionLimitsInternal->data[0] = -1.79768912955; |
| 14375 | obj->JointInternal.PositionLimitsInternal->data |
| 14376 | [obj->JointInternal.PositionLimitsInternal->size[0]] = 1.79768912955; |
| 14377 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 14378 | obj->JointInternal.JointAxisInternal[1] = 1.0; |
| 14379 | obj->JointInternal.JointAxisInternal[2] = 0.0; |
| 14380 | b_kstr = obj->JointInternal.HomePositionInternal->size[0]; |
| 14381 | obj->JointInternal.HomePositionInternal->size[0] = 1; |
| 14382 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.HomePositionInternal, |
| 14383 | b_kstr); |
| 14384 | obj->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 14385 | return b_obj; |
| 14386 | } |
| 14387 | |
| 14388 | static v_robotics_manip_internal_Rig_T *RigidBody_Rigid_astwhqf2azttxab |
| 14389 | (v_robotics_manip_internal_Rig_T *obj) |
| 14390 | { |
| 14391 | v_robotics_manip_internal_Rig_T *b_obj; |
| 14392 | int8_T msubspace_data[36]; |
| 14393 | real_T poslim_data[12]; |
| 14394 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 14395 | boolean_T b_bool; |
| 14396 | int32_T b_kstr; |
| 14397 | char_T b[8]; |
| 14398 | char_T b_0[9]; |
| 14399 | int32_T loop_ub; |
| 14400 | int8_T tmp[6]; |
| 14401 | static const char_T tmp_0[10] = { 'e', 'd', 'o', '_', 'l', 'i', 'n', 'k', '_', |
| 14402 | '6' }; |
| 14403 | |
| 14404 | static const real_T tmp_1[9] = { 1.0067862401982823E-5, 2.0153545938371486E-9, |
| 14405 | 5.3285284099072352E-9, 2.0153545938371486E-9, 1.4574493611914028E-5, |
| 14406 | 1.6742291194075022E-9, 5.3285284099072352E-9, 1.6742291194075022E-9, |
| 14407 | 1.006193323459457E-5 }; |
| 14408 | |
| 14409 | static const real_T tmp_2[36] = { 1.0067862401982823E-5, 2.0153545938371486E-9, |
| 14410 | 5.3285284099072352E-9, 0.0, -1.6782149839359722E-7, -0.00026087851925284686, |
| 14411 | 2.0153545938371486E-9, 1.4574493611914028E-5, 1.6742291194075022E-9, |
| 14412 | 1.6782149839359722E-7, 0.0, -1.957917481258634E-7, 5.3285284099072352E-9, |
| 14413 | 1.6742291194075022E-9, 1.006193323459457E-5, 0.00026087851925284686, |
| 14414 | 1.957917481258634E-7, 0.0, 0.0, 1.6782149839359722E-7, |
| 14415 | 0.00026087851925284686, 0.0279702497322662, 0.0, 0.0, -1.6782149839359722E-7, |
| 14416 | 0.0, 1.957917481258634E-7, 0.0, 0.0279702497322662, 0.0, |
| 14417 | -0.00026087851925284686, -1.957917481258634E-7, 0.0, 0.0, 0.0, |
| 14418 | 0.0279702497322662 }; |
| 14419 | |
| 14420 | static const int8_T tmp_3[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, |
| 14421 | 1 }; |
| 14422 | |
| 14423 | static const char_T tmp_4[11] = { 'e', 'd', 'o', '_', 'j', 'o', 'i', 'n', 't', |
| 14424 | '_', '6' }; |
| 14425 | |
| 14426 | static const char_T tmp_5[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 14427 | |
| 14428 | static const char_T tmp_6[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 14429 | |
| 14430 | static const real_T tmp_7[16] = { 1.0, 0.0, -0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 14431 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.1745, 1.0 }; |
| 14432 | |
| 14433 | static const real_T tmp_8[16] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 14434 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 14435 | |
| 14436 | static const real_T tmp_9[36] = { 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 14437 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 14438 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; |
| 14439 | |
| 14440 | int32_T exitg1; |
| 14441 | b_obj = obj; |
| 14442 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 14443 | obj->NameInternal->size[0] = 1; |
| 14444 | obj->NameInternal->size[1] = 10; |
| 14445 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr); |
| 14446 | for (b_kstr = 0; b_kstr < 10; b_kstr++) { |
| 14447 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 14448 | } |
| 14449 | |
| 14450 | obj->ParentIndex = 6.0; |
| 14451 | obj->MassInternal = 0.0279702497322662; |
| 14452 | obj->CenterOfMassInternal[0] = 7.0E-6; |
| 14453 | obj->CenterOfMassInternal[1] = -0.009327; |
| 14454 | obj->CenterOfMassInternal[2] = 6.0E-6; |
| 14455 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 14456 | obj->InertiaInternal[b_kstr] = tmp_1[b_kstr]; |
| 14457 | } |
| 14458 | |
| 14459 | for (b_kstr = 0; b_kstr < 36; b_kstr++) { |
| 14460 | obj->SpatialInertia[b_kstr] = tmp_2[b_kstr]; |
| 14461 | } |
| 14462 | |
| 14463 | obj->JointInternal.InTree = false; |
| 14464 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 14465 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_3[b_kstr]; |
| 14466 | } |
| 14467 | |
| 14468 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 14469 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_3[b_kstr]; |
| 14470 | } |
| 14471 | |
| 14472 | b_kstr = obj->JointInternal.NameInternal->size[0] * |
| 14473 | obj->JointInternal.NameInternal->size[1]; |
| 14474 | obj->JointInternal.NameInternal->size[0] = 1; |
| 14475 | obj->JointInternal.NameInternal->size[1] = 11; |
| 14476 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.NameInternal, b_kstr); |
| 14477 | for (b_kstr = 0; b_kstr < 11; b_kstr++) { |
| 14478 | obj->JointInternal.NameInternal->data[b_kstr] = tmp_4[b_kstr]; |
| 14479 | } |
| 14480 | |
| 14481 | b_kstr = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1]; |
| 14482 | obj->JointInternal.Type->size[0] = 1; |
| 14483 | obj->JointInternal.Type->size[1] = 8; |
| 14484 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.Type, b_kstr); |
| 14485 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 14486 | obj->JointInternal.Type->data[b_kstr] = tmp_5[b_kstr]; |
| 14487 | } |
| 14488 | |
| 14489 | cartesian_trajec_emxInit_char_T(&switch_expression, 2); |
| 14490 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 14491 | switch_expression->size[0] = 1; |
| 14492 | switch_expression->size[1] = obj->JointInternal.Type->size[1]; |
| 14493 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr); |
| 14494 | loop_ub = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1] |
| 14495 | - 1; |
| 14496 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 14497 | switch_expression->data[b_kstr] = obj->JointInternal.Type->data[b_kstr]; |
| 14498 | } |
| 14499 | |
| 14500 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 14501 | b[b_kstr] = tmp_5[b_kstr]; |
| 14502 | } |
| 14503 | |
| 14504 | b_bool = false; |
| 14505 | if (switch_expression->size[1] == 8) { |
| 14506 | b_kstr = 1; |
| 14507 | do { |
| 14508 | exitg1 = 0; |
| 14509 | if (b_kstr - 1 < 8) { |
| 14510 | loop_ub = b_kstr - 1; |
| 14511 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 14512 | exitg1 = 1; |
| 14513 | } else { |
| 14514 | b_kstr++; |
| 14515 | } |
| 14516 | } else { |
| 14517 | b_bool = true; |
| 14518 | exitg1 = 1; |
| 14519 | } |
| 14520 | } while (exitg1 == 0); |
| 14521 | } |
| 14522 | |
| 14523 | if (b_bool) { |
| 14524 | b_kstr = 0; |
| 14525 | } else { |
| 14526 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 14527 | b_0[b_kstr] = tmp_6[b_kstr]; |
| 14528 | } |
| 14529 | |
| 14530 | b_bool = false; |
| 14531 | if (switch_expression->size[1] == 9) { |
| 14532 | b_kstr = 1; |
| 14533 | do { |
| 14534 | exitg1 = 0; |
| 14535 | if (b_kstr - 1 < 9) { |
| 14536 | loop_ub = b_kstr - 1; |
| 14537 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 14538 | exitg1 = 1; |
| 14539 | } else { |
| 14540 | b_kstr++; |
| 14541 | } |
| 14542 | } else { |
| 14543 | b_bool = true; |
| 14544 | exitg1 = 1; |
| 14545 | } |
| 14546 | } while (exitg1 == 0); |
| 14547 | } |
| 14548 | |
| 14549 | if (b_bool) { |
| 14550 | b_kstr = 1; |
| 14551 | } else { |
| 14552 | b_kstr = -1; |
| 14553 | } |
| 14554 | } |
| 14555 | |
| 14556 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 14557 | switch (b_kstr) { |
| 14558 | case 0: |
| 14559 | tmp[0] = 0; |
| 14560 | tmp[1] = 0; |
| 14561 | tmp[2] = 1; |
| 14562 | tmp[3] = 0; |
| 14563 | tmp[4] = 0; |
| 14564 | tmp[5] = 0; |
| 14565 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 14566 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 14567 | } |
| 14568 | |
| 14569 | poslim_data[0] = -3.1415926535897931; |
| 14570 | poslim_data[1] = 3.1415926535897931; |
| 14571 | obj->JointInternal.VelocityNumber = 1.0; |
| 14572 | obj->JointInternal.PositionNumber = 1.0; |
| 14573 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 14574 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 14575 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 14576 | break; |
| 14577 | |
| 14578 | case 1: |
| 14579 | tmp[0] = 0; |
| 14580 | tmp[1] = 0; |
| 14581 | tmp[2] = 0; |
| 14582 | tmp[3] = 0; |
| 14583 | tmp[4] = 0; |
| 14584 | tmp[5] = 1; |
| 14585 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 14586 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 14587 | } |
| 14588 | |
| 14589 | poslim_data[0] = -0.5; |
| 14590 | poslim_data[1] = 0.5; |
| 14591 | obj->JointInternal.VelocityNumber = 1.0; |
| 14592 | obj->JointInternal.PositionNumber = 1.0; |
| 14593 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 14594 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 14595 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 14596 | break; |
| 14597 | |
| 14598 | default: |
| 14599 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 14600 | msubspace_data[b_kstr] = 0; |
| 14601 | } |
| 14602 | |
| 14603 | poslim_data[0] = 0.0; |
| 14604 | poslim_data[1] = 0.0; |
| 14605 | obj->JointInternal.VelocityNumber = 0.0; |
| 14606 | obj->JointInternal.PositionNumber = 0.0; |
| 14607 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 14608 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 14609 | obj->JointInternal.JointAxisInternal[2] = 0.0; |
| 14610 | break; |
| 14611 | } |
| 14612 | |
| 14613 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 14614 | obj->JointInternal.MotionSubspace->size[1]; |
| 14615 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 14616 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 14617 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 14618 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 14619 | obj->JointInternal.MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 14620 | } |
| 14621 | |
| 14622 | b_kstr = obj->JointInternal.PositionLimitsInternal->size[0] * |
| 14623 | obj->JointInternal.PositionLimitsInternal->size[1]; |
| 14624 | obj->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 14625 | obj->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 14626 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.PositionLimitsInternal, |
| 14627 | b_kstr); |
| 14628 | for (b_kstr = 0; b_kstr < 2; b_kstr++) { |
| 14629 | obj->JointInternal.PositionLimitsInternal->data[b_kstr] = poslim_data[b_kstr]; |
| 14630 | } |
| 14631 | |
| 14632 | b_kstr = obj->JointInternal.HomePositionInternal->size[0]; |
| 14633 | obj->JointInternal.HomePositionInternal->size[0] = 1; |
| 14634 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.HomePositionInternal, |
| 14635 | b_kstr); |
| 14636 | for (b_kstr = 0; b_kstr < 1; b_kstr++) { |
| 14637 | obj->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 14638 | } |
| 14639 | |
| 14640 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 14641 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_7[b_kstr]; |
| 14642 | } |
| 14643 | |
| 14644 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 14645 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_8[b_kstr]; |
| 14646 | } |
| 14647 | |
| 14648 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 14649 | obj->JointInternal.MotionSubspace->size[1]; |
| 14650 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 14651 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 14652 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 14653 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 14654 | obj->JointInternal.MotionSubspace->data[b_kstr] = tmp_9[b_kstr]; |
| 14655 | } |
| 14656 | |
| 14657 | obj->JointInternal.InTree = true; |
| 14658 | b_kstr = obj->JointInternal.PositionLimitsInternal->size[0] * |
| 14659 | obj->JointInternal.PositionLimitsInternal->size[1]; |
| 14660 | obj->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 14661 | obj->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 14662 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.PositionLimitsInternal, |
| 14663 | b_kstr); |
| 14664 | obj->JointInternal.PositionLimitsInternal->data[0] = -4.71238898038; |
| 14665 | obj->JointInternal.PositionLimitsInternal->data |
| 14666 | [obj->JointInternal.PositionLimitsInternal->size[0]] = 4.71238898038; |
| 14667 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 14668 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 14669 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 14670 | b_kstr = obj->JointInternal.HomePositionInternal->size[0]; |
| 14671 | obj->JointInternal.HomePositionInternal->size[0] = 1; |
| 14672 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.HomePositionInternal, |
| 14673 | b_kstr); |
| 14674 | obj->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 14675 | return b_obj; |
| 14676 | } |
| 14677 | |
| 14678 | static y_robotics_manip_internal_Rig_T *c_RigidBodyTree_RigidBodyTree_a |
| 14679 | (y_robotics_manip_internal_Rig_T *obj, v_robotics_manip_internal_Rig_T *iobj_0, |
| 14680 | v_robotics_manip_internal_Rig_T *iobj_1, v_robotics_manip_internal_Rig_T |
| 14681 | *iobj_2, v_robotics_manip_internal_Rig_T *iobj_3, |
| 14682 | v_robotics_manip_internal_Rig_T *iobj_4, v_robotics_manip_internal_Rig_T |
| 14683 | *iobj_5, v_robotics_manip_internal_Rig_T *iobj_6, |
| 14684 | v_robotics_manip_internal_Rig_T *iobj_7) |
| 14685 | { |
| 14686 | y_robotics_manip_internal_Rig_T *b_obj; |
| 14687 | v_robotics_manip_internal_Rig_T *obj_0; |
| 14688 | int8_T msubspace_data[36]; |
| 14689 | real_T poslim_data[12]; |
| 14690 | int8_T b_I[9]; |
| 14691 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 14692 | boolean_T b_bool; |
| 14693 | int32_T b_kstr; |
| 14694 | char_T b[8]; |
| 14695 | char_T b_0[9]; |
| 14696 | int32_T loop_ub; |
| 14697 | int8_T tmp[6]; |
| 14698 | static const char_T tmp_0[11] = { 'e', 'd', 'o', '_', 'l', 'i', 'n', 'k', '_', |
| 14699 | 'e', 'e' }; |
| 14700 | |
| 14701 | static const real_T tmp_1[36] = { 0.0, 0.0, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, |
| 14702 | 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, |
| 14703 | -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0 }; |
| 14704 | |
| 14705 | static const int8_T tmp_2[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, |
| 14706 | 1 }; |
| 14707 | |
| 14708 | static const char_T tmp_3[12] = { 'e', 'd', 'o', '_', 'j', 'o', 'i', 'n', 't', |
| 14709 | '_', 'e', 'e' }; |
| 14710 | |
| 14711 | static const char_T tmp_4[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 14712 | |
| 14713 | static const char_T tmp_5[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 14714 | |
| 14715 | static const char_T tmp_6[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 14716 | |
| 14717 | static const real_T tmp_7[16] = { 1.0, 0.0, -0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 14718 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 14719 | |
| 14720 | static const real_T tmp_8[16] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 14721 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 14722 | |
| 14723 | static const char_T tmp_9[5] = { 'w', 'o', 'r', 'l', 'd' }; |
| 14724 | |
| 14725 | static const char_T tmp_a[9] = { 'w', 'o', 'r', 'l', 'd', '_', 'j', 'n', 't' }; |
| 14726 | |
| 14727 | int32_T exitg1; |
| 14728 | b_obj = obj; |
| 14729 | obj->Bodies[0] = c_RigidBody_RigidBody_astwhqf2a(iobj_7); |
| 14730 | obj->Bodies[0]->Index = 1.0; |
| 14731 | obj->Bodies[1] = RigidBody_RigidBody_astwhqf2az(iobj_0); |
| 14732 | obj->Bodies[1]->Index = 2.0; |
| 14733 | obj->Bodies[2] = RigidBody_RigidBody_astwhqf2azt(iobj_1); |
| 14734 | obj->Bodies[2]->Index = 3.0; |
| 14735 | obj->Bodies[3] = RigidBody_RigidBod_astwhqf2aztt(iobj_2); |
| 14736 | obj->Bodies[3]->Index = 4.0; |
| 14737 | obj->Bodies[4] = RigidBody_RigidBo_astwhqf2azttx(iobj_3); |
| 14738 | obj->Bodies[4]->Index = 5.0; |
| 14739 | obj->Bodies[5] = RigidBody_RigidB_astwhqf2azttxa(iobj_4); |
| 14740 | obj->Bodies[5]->Index = 6.0; |
| 14741 | obj->Bodies[6] = RigidBody_Rigid_astwhqf2azttxab(iobj_5); |
| 14742 | obj->Bodies[6]->Index = 7.0; |
| 14743 | b_kstr = iobj_6->NameInternal->size[0] * iobj_6->NameInternal->size[1]; |
| 14744 | iobj_6->NameInternal->size[0] = 1; |
| 14745 | iobj_6->NameInternal->size[1] = 11; |
| 14746 | cartes_emxEnsureCapacity_char_T(iobj_6->NameInternal, b_kstr); |
| 14747 | for (b_kstr = 0; b_kstr < 11; b_kstr++) { |
| 14748 | iobj_6->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 14749 | } |
| 14750 | |
| 14751 | iobj_6->ParentIndex = 7.0; |
| 14752 | iobj_6->MassInternal = 0.0; |
| 14753 | iobj_6->CenterOfMassInternal[0] = 0.0; |
| 14754 | iobj_6->CenterOfMassInternal[1] = 0.0; |
| 14755 | iobj_6->CenterOfMassInternal[2] = 0.0; |
| 14756 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 14757 | iobj_6->InertiaInternal[b_kstr] = 0.0; |
| 14758 | } |
| 14759 | |
| 14760 | for (b_kstr = 0; b_kstr < 36; b_kstr++) { |
| 14761 | iobj_6->SpatialInertia[b_kstr] = tmp_1[b_kstr]; |
| 14762 | } |
| 14763 | |
| 14764 | iobj_6->JointInternal.InTree = false; |
| 14765 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 14766 | iobj_6->JointInternal.JointToParentTransform[b_kstr] = tmp_2[b_kstr]; |
| 14767 | } |
| 14768 | |
| 14769 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 14770 | iobj_6->JointInternal.ChildToJointTransform[b_kstr] = tmp_2[b_kstr]; |
| 14771 | } |
| 14772 | |
| 14773 | b_kstr = iobj_6->JointInternal.NameInternal->size[0] * |
| 14774 | iobj_6->JointInternal.NameInternal->size[1]; |
| 14775 | iobj_6->JointInternal.NameInternal->size[0] = 1; |
| 14776 | iobj_6->JointInternal.NameInternal->size[1] = 12; |
| 14777 | cartes_emxEnsureCapacity_char_T(iobj_6->JointInternal.NameInternal, b_kstr); |
| 14778 | for (b_kstr = 0; b_kstr < 12; b_kstr++) { |
| 14779 | iobj_6->JointInternal.NameInternal->data[b_kstr] = tmp_3[b_kstr]; |
| 14780 | } |
| 14781 | |
| 14782 | b_kstr = iobj_6->JointInternal.Type->size[0] * iobj_6-> |
| 14783 | JointInternal.Type->size[1]; |
| 14784 | iobj_6->JointInternal.Type->size[0] = 1; |
| 14785 | iobj_6->JointInternal.Type->size[1] = 5; |
| 14786 | cartes_emxEnsureCapacity_char_T(iobj_6->JointInternal.Type, b_kstr); |
| 14787 | for (b_kstr = 0; b_kstr < 5; b_kstr++) { |
| 14788 | iobj_6->JointInternal.Type->data[b_kstr] = tmp_4[b_kstr]; |
| 14789 | } |
| 14790 | |
| 14791 | cartesian_trajec_emxInit_char_T(&switch_expression, 2); |
| 14792 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 14793 | switch_expression->size[0] = 1; |
| 14794 | switch_expression->size[1] = iobj_6->JointInternal.Type->size[1]; |
| 14795 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr); |
| 14796 | loop_ub = iobj_6->JointInternal.Type->size[0] * iobj_6-> |
| 14797 | JointInternal.Type->size[1] - 1; |
| 14798 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 14799 | switch_expression->data[b_kstr] = iobj_6->JointInternal.Type->data[b_kstr]; |
| 14800 | } |
| 14801 | |
| 14802 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 14803 | b[b_kstr] = tmp_5[b_kstr]; |
| 14804 | } |
| 14805 | |
| 14806 | b_bool = false; |
| 14807 | if (switch_expression->size[1] == 8) { |
| 14808 | b_kstr = 1; |
| 14809 | do { |
| 14810 | exitg1 = 0; |
| 14811 | if (b_kstr - 1 < 8) { |
| 14812 | loop_ub = b_kstr - 1; |
| 14813 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 14814 | exitg1 = 1; |
| 14815 | } else { |
| 14816 | b_kstr++; |
| 14817 | } |
| 14818 | } else { |
| 14819 | b_bool = true; |
| 14820 | exitg1 = 1; |
| 14821 | } |
| 14822 | } while (exitg1 == 0); |
| 14823 | } |
| 14824 | |
| 14825 | if (b_bool) { |
| 14826 | b_kstr = 0; |
| 14827 | } else { |
| 14828 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 14829 | b_0[b_kstr] = tmp_6[b_kstr]; |
| 14830 | } |
| 14831 | |
| 14832 | b_bool = false; |
| 14833 | if (switch_expression->size[1] == 9) { |
| 14834 | b_kstr = 1; |
| 14835 | do { |
| 14836 | exitg1 = 0; |
| 14837 | if (b_kstr - 1 < 9) { |
| 14838 | loop_ub = b_kstr - 1; |
| 14839 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 14840 | exitg1 = 1; |
| 14841 | } else { |
| 14842 | b_kstr++; |
| 14843 | } |
| 14844 | } else { |
| 14845 | b_bool = true; |
| 14846 | exitg1 = 1; |
| 14847 | } |
| 14848 | } while (exitg1 == 0); |
| 14849 | } |
| 14850 | |
| 14851 | if (b_bool) { |
| 14852 | b_kstr = 1; |
| 14853 | } else { |
| 14854 | b_kstr = -1; |
| 14855 | } |
| 14856 | } |
| 14857 | |
| 14858 | switch (b_kstr) { |
| 14859 | case 0: |
| 14860 | tmp[0] = 0; |
| 14861 | tmp[1] = 0; |
| 14862 | tmp[2] = 1; |
| 14863 | tmp[3] = 0; |
| 14864 | tmp[4] = 0; |
| 14865 | tmp[5] = 0; |
| 14866 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 14867 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 14868 | } |
| 14869 | |
| 14870 | poslim_data[0] = -3.1415926535897931; |
| 14871 | poslim_data[1] = 3.1415926535897931; |
| 14872 | iobj_6->JointInternal.VelocityNumber = 1.0; |
| 14873 | iobj_6->JointInternal.PositionNumber = 1.0; |
| 14874 | iobj_6->JointInternal.JointAxisInternal[0] = 0.0; |
| 14875 | iobj_6->JointInternal.JointAxisInternal[1] = 0.0; |
| 14876 | iobj_6->JointInternal.JointAxisInternal[2] = 1.0; |
| 14877 | break; |
| 14878 | |
| 14879 | case 1: |
| 14880 | tmp[0] = 0; |
| 14881 | tmp[1] = 0; |
| 14882 | tmp[2] = 0; |
| 14883 | tmp[3] = 0; |
| 14884 | tmp[4] = 0; |
| 14885 | tmp[5] = 1; |
| 14886 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 14887 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 14888 | } |
| 14889 | |
| 14890 | poslim_data[0] = -0.5; |
| 14891 | poslim_data[1] = 0.5; |
| 14892 | iobj_6->JointInternal.VelocityNumber = 1.0; |
| 14893 | iobj_6->JointInternal.PositionNumber = 1.0; |
| 14894 | iobj_6->JointInternal.JointAxisInternal[0] = 0.0; |
| 14895 | iobj_6->JointInternal.JointAxisInternal[1] = 0.0; |
| 14896 | iobj_6->JointInternal.JointAxisInternal[2] = 1.0; |
| 14897 | break; |
| 14898 | |
| 14899 | default: |
| 14900 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 14901 | msubspace_data[b_kstr] = 0; |
| 14902 | } |
| 14903 | |
| 14904 | poslim_data[0] = 0.0; |
| 14905 | poslim_data[1] = 0.0; |
| 14906 | iobj_6->JointInternal.VelocityNumber = 0.0; |
| 14907 | iobj_6->JointInternal.PositionNumber = 0.0; |
| 14908 | iobj_6->JointInternal.JointAxisInternal[0] = 0.0; |
| 14909 | iobj_6->JointInternal.JointAxisInternal[1] = 0.0; |
| 14910 | iobj_6->JointInternal.JointAxisInternal[2] = 0.0; |
| 14911 | break; |
| 14912 | } |
| 14913 | |
| 14914 | b_kstr = iobj_6->JointInternal.MotionSubspace->size[0] * |
| 14915 | iobj_6->JointInternal.MotionSubspace->size[1]; |
| 14916 | iobj_6->JointInternal.MotionSubspace->size[0] = 6; |
| 14917 | iobj_6->JointInternal.MotionSubspace->size[1] = 1; |
| 14918 | cartes_emxEnsureCapacity_real_T(iobj_6->JointInternal.MotionSubspace, b_kstr); |
| 14919 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 14920 | iobj_6->JointInternal.MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 14921 | } |
| 14922 | |
| 14923 | b_kstr = iobj_6->JointInternal.PositionLimitsInternal->size[0] * |
| 14924 | iobj_6->JointInternal.PositionLimitsInternal->size[1]; |
| 14925 | iobj_6->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 14926 | iobj_6->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 14927 | cartes_emxEnsureCapacity_real_T(iobj_6->JointInternal.PositionLimitsInternal, |
| 14928 | b_kstr); |
| 14929 | for (b_kstr = 0; b_kstr < 2; b_kstr++) { |
| 14930 | iobj_6->JointInternal.PositionLimitsInternal->data[b_kstr] = |
| 14931 | poslim_data[b_kstr]; |
| 14932 | } |
| 14933 | |
| 14934 | b_kstr = iobj_6->JointInternal.HomePositionInternal->size[0]; |
| 14935 | iobj_6->JointInternal.HomePositionInternal->size[0] = 1; |
| 14936 | cartes_emxEnsureCapacity_real_T(iobj_6->JointInternal.HomePositionInternal, |
| 14937 | b_kstr); |
| 14938 | for (b_kstr = 0; b_kstr < 1; b_kstr++) { |
| 14939 | iobj_6->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 14940 | } |
| 14941 | |
| 14942 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 14943 | iobj_6->JointInternal.JointToParentTransform[b_kstr] = tmp_7[b_kstr]; |
| 14944 | } |
| 14945 | |
| 14946 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 14947 | iobj_6->JointInternal.ChildToJointTransform[b_kstr] = tmp_8[b_kstr]; |
| 14948 | } |
| 14949 | |
| 14950 | b_kstr = iobj_6->JointInternal.MotionSubspace->size[0] * |
| 14951 | iobj_6->JointInternal.MotionSubspace->size[1]; |
| 14952 | iobj_6->JointInternal.MotionSubspace->size[0] = 6; |
| 14953 | iobj_6->JointInternal.MotionSubspace->size[1] = 1; |
| 14954 | cartes_emxEnsureCapacity_real_T(iobj_6->JointInternal.MotionSubspace, b_kstr); |
| 14955 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 14956 | iobj_6->JointInternal.MotionSubspace->data[b_kstr] = 0.0; |
| 14957 | } |
| 14958 | |
| 14959 | iobj_6->JointInternal.InTree = true; |
| 14960 | b_kstr = iobj_6->JointInternal.PositionLimitsInternal->size[0] * |
| 14961 | iobj_6->JointInternal.PositionLimitsInternal->size[1]; |
| 14962 | iobj_6->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 14963 | iobj_6->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 14964 | cartes_emxEnsureCapacity_real_T(iobj_6->JointInternal.PositionLimitsInternal, |
| 14965 | b_kstr); |
| 14966 | iobj_6->JointInternal.PositionLimitsInternal->data[0] = 0.0; |
| 14967 | iobj_6->JointInternal.PositionLimitsInternal->data |
| 14968 | [iobj_6->JointInternal.PositionLimitsInternal->size[0]] = 0.0; |
| 14969 | iobj_6->JointInternal.JointAxisInternal[0] = 0.0; |
| 14970 | iobj_6->JointInternal.JointAxisInternal[1] = 0.0; |
| 14971 | iobj_6->JointInternal.JointAxisInternal[2] = 0.0; |
| 14972 | b_kstr = iobj_6->JointInternal.HomePositionInternal->size[0]; |
| 14973 | iobj_6->JointInternal.HomePositionInternal->size[0] = 1; |
| 14974 | cartes_emxEnsureCapacity_real_T(iobj_6->JointInternal.HomePositionInternal, |
| 14975 | b_kstr); |
| 14976 | iobj_6->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 14977 | obj->Bodies[7] = iobj_6; |
| 14978 | obj->Bodies[7]->Index = 8.0; |
| 14979 | obj->NumBodies = 8.0; |
| 14980 | obj->Gravity[0] = 0.0; |
| 14981 | obj->Gravity[1] = 0.0; |
| 14982 | obj->Gravity[2] = 0.0; |
| 14983 | obj_0 = &obj->Base; |
| 14984 | b_kstr = obj->Base.NameInternal->size[0] * obj->Base.NameInternal->size[1]; |
| 14985 | obj->Base.NameInternal->size[0] = 1; |
| 14986 | obj->Base.NameInternal->size[1] = 5; |
| 14987 | cartes_emxEnsureCapacity_char_T(obj->Base.NameInternal, b_kstr); |
| 14988 | for (b_kstr = 0; b_kstr < 5; b_kstr++) { |
| 14989 | obj->Base.NameInternal->data[b_kstr] = tmp_9[b_kstr]; |
| 14990 | } |
| 14991 | |
| 14992 | obj->Base.JointInternal.InTree = false; |
| 14993 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 14994 | obj_0->JointInternal.JointToParentTransform[b_kstr] = tmp_2[b_kstr]; |
| 14995 | } |
| 14996 | |
| 14997 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 14998 | obj_0->JointInternal.ChildToJointTransform[b_kstr] = tmp_2[b_kstr]; |
| 14999 | } |
| 15000 | |
| 15001 | b_kstr = obj->Base.JointInternal.NameInternal->size[0] * |
| 15002 | obj->Base.JointInternal.NameInternal->size[1]; |
| 15003 | obj->Base.JointInternal.NameInternal->size[0] = 1; |
| 15004 | obj->Base.JointInternal.NameInternal->size[1] = 9; |
| 15005 | cartes_emxEnsureCapacity_char_T(obj->Base.JointInternal.NameInternal, b_kstr); |
| 15006 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 15007 | obj_0->JointInternal.NameInternal->data[b_kstr] = tmp_a[b_kstr]; |
| 15008 | } |
| 15009 | |
| 15010 | b_kstr = obj->Base.JointInternal.Type->size[0] * obj-> |
| 15011 | Base.JointInternal.Type->size[1]; |
| 15012 | obj->Base.JointInternal.Type->size[0] = 1; |
| 15013 | obj->Base.JointInternal.Type->size[1] = 5; |
| 15014 | cartes_emxEnsureCapacity_char_T(obj->Base.JointInternal.Type, b_kstr); |
| 15015 | for (b_kstr = 0; b_kstr < 5; b_kstr++) { |
| 15016 | obj_0->JointInternal.Type->data[b_kstr] = tmp_4[b_kstr]; |
| 15017 | } |
| 15018 | |
| 15019 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 15020 | switch_expression->size[0] = 1; |
| 15021 | switch_expression->size[1] = obj->Base.JointInternal.Type->size[1]; |
| 15022 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr); |
| 15023 | loop_ub = obj->Base.JointInternal.Type->size[0] * obj-> |
| 15024 | Base.JointInternal.Type->size[1] - 1; |
| 15025 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 15026 | switch_expression->data[b_kstr] = obj_0->JointInternal.Type->data[b_kstr]; |
| 15027 | } |
| 15028 | |
| 15029 | b_bool = false; |
| 15030 | if (switch_expression->size[1] == 8) { |
| 15031 | b_kstr = 1; |
| 15032 | do { |
| 15033 | exitg1 = 0; |
| 15034 | if (b_kstr - 1 < 8) { |
| 15035 | loop_ub = b_kstr - 1; |
| 15036 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 15037 | exitg1 = 1; |
| 15038 | } else { |
| 15039 | b_kstr++; |
| 15040 | } |
| 15041 | } else { |
| 15042 | b_bool = true; |
| 15043 | exitg1 = 1; |
| 15044 | } |
| 15045 | } while (exitg1 == 0); |
| 15046 | } |
| 15047 | |
| 15048 | if (b_bool) { |
| 15049 | b_kstr = 0; |
| 15050 | } else { |
| 15051 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 15052 | b_0[b_kstr] = tmp_6[b_kstr]; |
| 15053 | } |
| 15054 | |
| 15055 | b_bool = false; |
| 15056 | if (switch_expression->size[1] == 9) { |
| 15057 | b_kstr = 1; |
| 15058 | do { |
| 15059 | exitg1 = 0; |
| 15060 | if (b_kstr - 1 < 9) { |
| 15061 | loop_ub = b_kstr - 1; |
| 15062 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 15063 | exitg1 = 1; |
| 15064 | } else { |
| 15065 | b_kstr++; |
| 15066 | } |
| 15067 | } else { |
| 15068 | b_bool = true; |
| 15069 | exitg1 = 1; |
| 15070 | } |
| 15071 | } while (exitg1 == 0); |
| 15072 | } |
| 15073 | |
| 15074 | if (b_bool) { |
| 15075 | b_kstr = 1; |
| 15076 | } else { |
| 15077 | b_kstr = -1; |
| 15078 | } |
| 15079 | } |
| 15080 | |
| 15081 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 15082 | switch (b_kstr) { |
| 15083 | case 0: |
| 15084 | tmp[0] = 0; |
| 15085 | tmp[1] = 0; |
| 15086 | tmp[2] = 1; |
| 15087 | tmp[3] = 0; |
| 15088 | tmp[4] = 0; |
| 15089 | tmp[5] = 0; |
| 15090 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 15091 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 15092 | } |
| 15093 | |
| 15094 | poslim_data[0] = -3.1415926535897931; |
| 15095 | poslim_data[1] = 3.1415926535897931; |
| 15096 | obj->Base.JointInternal.VelocityNumber = 1.0; |
| 15097 | obj->Base.JointInternal.PositionNumber = 1.0; |
| 15098 | obj->Base.JointInternal.JointAxisInternal[0] = 0.0; |
| 15099 | obj->Base.JointInternal.JointAxisInternal[1] = 0.0; |
| 15100 | obj->Base.JointInternal.JointAxisInternal[2] = 1.0; |
| 15101 | break; |
| 15102 | |
| 15103 | case 1: |
| 15104 | tmp[0] = 0; |
| 15105 | tmp[1] = 0; |
| 15106 | tmp[2] = 0; |
| 15107 | tmp[3] = 0; |
| 15108 | tmp[4] = 0; |
| 15109 | tmp[5] = 1; |
| 15110 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 15111 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 15112 | } |
| 15113 | |
| 15114 | poslim_data[0] = -0.5; |
| 15115 | poslim_data[1] = 0.5; |
| 15116 | obj->Base.JointInternal.VelocityNumber = 1.0; |
| 15117 | obj->Base.JointInternal.PositionNumber = 1.0; |
| 15118 | obj->Base.JointInternal.JointAxisInternal[0] = 0.0; |
| 15119 | obj->Base.JointInternal.JointAxisInternal[1] = 0.0; |
| 15120 | obj->Base.JointInternal.JointAxisInternal[2] = 1.0; |
| 15121 | break; |
| 15122 | |
| 15123 | default: |
| 15124 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 15125 | msubspace_data[b_kstr] = 0; |
| 15126 | } |
| 15127 | |
| 15128 | poslim_data[0] = 0.0; |
| 15129 | poslim_data[1] = 0.0; |
| 15130 | obj->Base.JointInternal.VelocityNumber = 0.0; |
| 15131 | obj->Base.JointInternal.PositionNumber = 0.0; |
| 15132 | obj->Base.JointInternal.JointAxisInternal[0] = 0.0; |
| 15133 | obj->Base.JointInternal.JointAxisInternal[1] = 0.0; |
| 15134 | obj->Base.JointInternal.JointAxisInternal[2] = 0.0; |
| 15135 | break; |
| 15136 | } |
| 15137 | |
| 15138 | b_kstr = obj->Base.JointInternal.MotionSubspace->size[0] * |
| 15139 | obj->Base.JointInternal.MotionSubspace->size[1]; |
| 15140 | obj->Base.JointInternal.MotionSubspace->size[0] = 6; |
| 15141 | obj->Base.JointInternal.MotionSubspace->size[1] = 1; |
| 15142 | cartes_emxEnsureCapacity_real_T(obj->Base.JointInternal.MotionSubspace, b_kstr); |
| 15143 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 15144 | obj_0->JointInternal.MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 15145 | } |
| 15146 | |
| 15147 | b_kstr = obj->Base.JointInternal.PositionLimitsInternal->size[0] * |
| 15148 | obj->Base.JointInternal.PositionLimitsInternal->size[1]; |
| 15149 | obj->Base.JointInternal.PositionLimitsInternal->size[0] = 1; |
| 15150 | obj->Base.JointInternal.PositionLimitsInternal->size[1] = 2; |
| 15151 | cartes_emxEnsureCapacity_real_T(obj->Base.JointInternal.PositionLimitsInternal, |
| 15152 | b_kstr); |
| 15153 | for (b_kstr = 0; b_kstr < 2; b_kstr++) { |
| 15154 | obj_0->JointInternal.PositionLimitsInternal->data[b_kstr] = |
| 15155 | poslim_data[b_kstr]; |
| 15156 | } |
| 15157 | |
| 15158 | b_kstr = obj->Base.JointInternal.HomePositionInternal->size[0]; |
| 15159 | obj->Base.JointInternal.HomePositionInternal->size[0] = 1; |
| 15160 | cartes_emxEnsureCapacity_real_T(obj->Base.JointInternal.HomePositionInternal, |
| 15161 | b_kstr); |
| 15162 | for (b_kstr = 0; b_kstr < 1; b_kstr++) { |
| 15163 | obj_0->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 15164 | } |
| 15165 | |
| 15166 | obj->Base.Index = -1.0; |
| 15167 | obj->Base.ParentIndex = -1.0; |
| 15168 | obj->Base.MassInternal = 1.0; |
| 15169 | obj->Base.CenterOfMassInternal[0] = 0.0; |
| 15170 | obj->Base.CenterOfMassInternal[1] = 0.0; |
| 15171 | obj->Base.CenterOfMassInternal[2] = 0.0; |
| 15172 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 15173 | b_I[b_kstr] = 0; |
| 15174 | } |
| 15175 | |
| 15176 | b_I[0] = 1; |
| 15177 | b_I[4] = 1; |
| 15178 | b_I[8] = 1; |
| 15179 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 15180 | obj->Base.InertiaInternal[b_kstr] = b_I[b_kstr]; |
| 15181 | } |
| 15182 | |
| 15183 | for (b_kstr = 0; b_kstr < 36; b_kstr++) { |
| 15184 | msubspace_data[b_kstr] = 0; |
| 15185 | } |
| 15186 | |
| 15187 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 15188 | msubspace_data[b_kstr + 6 * b_kstr] = 1; |
| 15189 | } |
| 15190 | |
| 15191 | for (b_kstr = 0; b_kstr < 36; b_kstr++) { |
| 15192 | obj->Base.SpatialInertia[b_kstr] = msubspace_data[b_kstr]; |
| 15193 | } |
| 15194 | |
| 15195 | return b_obj; |
| 15196 | } |
| 15197 | |
| 15198 | static void cartesian_trajectory_plann_rand(real_T r[5]) |
| 15199 | { |
| 15200 | for (cartesian_trajectory_planner_B.b_k_a = 0; |
| 15201 | cartesian_trajectory_planner_B.b_k_a < 5; |
| 15202 | cartesian_trajectory_planner_B.b_k_a++) { |
| 15203 | memcpy(&cartesian_trajectory_planner_B.uv[0], |
| 15204 | &cartesian_trajectory_planner_DW.state_b[0], 625U * sizeof(uint32_T)); |
| 15205 | cartesian__eml_rand_mt19937ar_a(cartesian_trajectory_planner_B.uv, |
| 15206 | cartesian_trajectory_planner_DW.state_b, |
| 15207 | &r[cartesian_trajectory_planner_B.b_k_a]); |
| 15208 | } |
| 15209 | } |
| 15210 | |
| 15211 | static w_robotics_manip_internal_Rig_T *c_RigidBody_Rigid_b |
| 15212 | (w_robotics_manip_internal_Rig_T *obj, c_rigidBodyJoint_cartesian__a_T *iobj_0) |
| 15213 | { |
| 15214 | w_robotics_manip_internal_Rig_T *b_obj; |
| 15215 | int8_T msubspace_data[36]; |
| 15216 | real_T poslim_data[12]; |
| 15217 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 15218 | boolean_T b_bool; |
| 15219 | int32_T b_kstr; |
| 15220 | char_T b[8]; |
| 15221 | char_T b_0[9]; |
| 15222 | int32_T loop_ub; |
| 15223 | int8_T tmp[6]; |
| 15224 | static const char_T tmp_0[10] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 15225 | '\x01' }; |
| 15226 | |
| 15227 | static const int8_T tmp_1[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, |
| 15228 | 1 }; |
| 15229 | |
| 15230 | static const char_T tmp_2[14] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 15231 | '\x01', '_', 'j', 'n', 't' }; |
| 15232 | |
| 15233 | static const char_T tmp_3[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 15234 | |
| 15235 | static const char_T tmp_4[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 15236 | |
| 15237 | static const char_T tmp_5[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 15238 | |
| 15239 | int32_T exitg1; |
| 15240 | b_obj = obj; |
| 15241 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 15242 | obj->NameInternal->size[0] = 1; |
| 15243 | obj->NameInternal->size[1] = 10; |
| 15244 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr); |
| 15245 | for (b_kstr = 0; b_kstr < 10; b_kstr++) { |
| 15246 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 15247 | } |
| 15248 | |
| 15249 | iobj_0->InTree = false; |
| 15250 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 15251 | iobj_0->JointToParentTransform[b_kstr] = tmp_1[b_kstr]; |
| 15252 | } |
| 15253 | |
| 15254 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 15255 | iobj_0->ChildToJointTransform[b_kstr] = tmp_1[b_kstr]; |
| 15256 | } |
| 15257 | |
| 15258 | b_kstr = iobj_0->NameInternal->size[0] * iobj_0->NameInternal->size[1]; |
| 15259 | iobj_0->NameInternal->size[0] = 1; |
| 15260 | iobj_0->NameInternal->size[1] = 14; |
| 15261 | cartes_emxEnsureCapacity_char_T(iobj_0->NameInternal, b_kstr); |
| 15262 | for (b_kstr = 0; b_kstr < 14; b_kstr++) { |
| 15263 | iobj_0->NameInternal->data[b_kstr] = tmp_2[b_kstr]; |
| 15264 | } |
| 15265 | |
| 15266 | b_kstr = iobj_0->Type->size[0] * iobj_0->Type->size[1]; |
| 15267 | iobj_0->Type->size[0] = 1; |
| 15268 | iobj_0->Type->size[1] = 5; |
| 15269 | cartes_emxEnsureCapacity_char_T(iobj_0->Type, b_kstr); |
| 15270 | for (b_kstr = 0; b_kstr < 5; b_kstr++) { |
| 15271 | iobj_0->Type->data[b_kstr] = tmp_3[b_kstr]; |
| 15272 | } |
| 15273 | |
| 15274 | cartesian_trajec_emxInit_char_T(&switch_expression, 2); |
| 15275 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 15276 | switch_expression->size[0] = 1; |
| 15277 | switch_expression->size[1] = iobj_0->Type->size[1]; |
| 15278 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr); |
| 15279 | loop_ub = iobj_0->Type->size[0] * iobj_0->Type->size[1] - 1; |
| 15280 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 15281 | switch_expression->data[b_kstr] = iobj_0->Type->data[b_kstr]; |
| 15282 | } |
| 15283 | |
| 15284 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 15285 | b[b_kstr] = tmp_4[b_kstr]; |
| 15286 | } |
| 15287 | |
| 15288 | b_bool = false; |
| 15289 | if (switch_expression->size[1] == 8) { |
| 15290 | b_kstr = 1; |
| 15291 | do { |
| 15292 | exitg1 = 0; |
| 15293 | if (b_kstr - 1 < 8) { |
| 15294 | loop_ub = b_kstr - 1; |
| 15295 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 15296 | exitg1 = 1; |
| 15297 | } else { |
| 15298 | b_kstr++; |
| 15299 | } |
| 15300 | } else { |
| 15301 | b_bool = true; |
| 15302 | exitg1 = 1; |
| 15303 | } |
| 15304 | } while (exitg1 == 0); |
| 15305 | } |
| 15306 | |
| 15307 | if (b_bool) { |
| 15308 | b_kstr = 0; |
| 15309 | } else { |
| 15310 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 15311 | b_0[b_kstr] = tmp_5[b_kstr]; |
| 15312 | } |
| 15313 | |
| 15314 | b_bool = false; |
| 15315 | if (switch_expression->size[1] == 9) { |
| 15316 | b_kstr = 1; |
| 15317 | do { |
| 15318 | exitg1 = 0; |
| 15319 | if (b_kstr - 1 < 9) { |
| 15320 | loop_ub = b_kstr - 1; |
| 15321 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 15322 | exitg1 = 1; |
| 15323 | } else { |
| 15324 | b_kstr++; |
| 15325 | } |
| 15326 | } else { |
| 15327 | b_bool = true; |
| 15328 | exitg1 = 1; |
| 15329 | } |
| 15330 | } while (exitg1 == 0); |
| 15331 | } |
| 15332 | |
| 15333 | if (b_bool) { |
| 15334 | b_kstr = 1; |
| 15335 | } else { |
| 15336 | b_kstr = -1; |
| 15337 | } |
| 15338 | } |
| 15339 | |
| 15340 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 15341 | switch (b_kstr) { |
| 15342 | case 0: |
| 15343 | tmp[0] = 0; |
| 15344 | tmp[1] = 0; |
| 15345 | tmp[2] = 1; |
| 15346 | tmp[3] = 0; |
| 15347 | tmp[4] = 0; |
| 15348 | tmp[5] = 0; |
| 15349 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 15350 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 15351 | } |
| 15352 | |
| 15353 | poslim_data[0] = -3.1415926535897931; |
| 15354 | poslim_data[1] = 3.1415926535897931; |
| 15355 | iobj_0->VelocityNumber = 1.0; |
| 15356 | iobj_0->PositionNumber = 1.0; |
| 15357 | iobj_0->JointAxisInternal[0] = 0.0; |
| 15358 | iobj_0->JointAxisInternal[1] = 0.0; |
| 15359 | iobj_0->JointAxisInternal[2] = 1.0; |
| 15360 | break; |
| 15361 | |
| 15362 | case 1: |
| 15363 | tmp[0] = 0; |
| 15364 | tmp[1] = 0; |
| 15365 | tmp[2] = 0; |
| 15366 | tmp[3] = 0; |
| 15367 | tmp[4] = 0; |
| 15368 | tmp[5] = 1; |
| 15369 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 15370 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 15371 | } |
| 15372 | |
| 15373 | poslim_data[0] = -0.5; |
| 15374 | poslim_data[1] = 0.5; |
| 15375 | iobj_0->VelocityNumber = 1.0; |
| 15376 | iobj_0->PositionNumber = 1.0; |
| 15377 | iobj_0->JointAxisInternal[0] = 0.0; |
| 15378 | iobj_0->JointAxisInternal[1] = 0.0; |
| 15379 | iobj_0->JointAxisInternal[2] = 1.0; |
| 15380 | break; |
| 15381 | |
| 15382 | default: |
| 15383 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 15384 | msubspace_data[b_kstr] = 0; |
| 15385 | } |
| 15386 | |
| 15387 | poslim_data[0] = 0.0; |
| 15388 | poslim_data[1] = 0.0; |
| 15389 | iobj_0->VelocityNumber = 0.0; |
| 15390 | iobj_0->PositionNumber = 0.0; |
| 15391 | iobj_0->JointAxisInternal[0] = 0.0; |
| 15392 | iobj_0->JointAxisInternal[1] = 0.0; |
| 15393 | iobj_0->JointAxisInternal[2] = 0.0; |
| 15394 | break; |
| 15395 | } |
| 15396 | |
| 15397 | b_kstr = iobj_0->MotionSubspace->size[0] * iobj_0->MotionSubspace->size[1]; |
| 15398 | iobj_0->MotionSubspace->size[0] = 6; |
| 15399 | iobj_0->MotionSubspace->size[1] = 1; |
| 15400 | cartes_emxEnsureCapacity_real_T(iobj_0->MotionSubspace, b_kstr); |
| 15401 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 15402 | iobj_0->MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 15403 | } |
| 15404 | |
| 15405 | b_kstr = iobj_0->PositionLimitsInternal->size[0] * |
| 15406 | iobj_0->PositionLimitsInternal->size[1]; |
| 15407 | iobj_0->PositionLimitsInternal->size[0] = 1; |
| 15408 | iobj_0->PositionLimitsInternal->size[1] = 2; |
| 15409 | cartes_emxEnsureCapacity_real_T(iobj_0->PositionLimitsInternal, b_kstr); |
| 15410 | for (b_kstr = 0; b_kstr < 2; b_kstr++) { |
| 15411 | iobj_0->PositionLimitsInternal->data[b_kstr] = poslim_data[b_kstr]; |
| 15412 | } |
| 15413 | |
| 15414 | b_kstr = iobj_0->HomePositionInternal->size[0]; |
| 15415 | iobj_0->HomePositionInternal->size[0] = 1; |
| 15416 | cartes_emxEnsureCapacity_real_T(iobj_0->HomePositionInternal, b_kstr); |
| 15417 | for (b_kstr = 0; b_kstr < 1; b_kstr++) { |
| 15418 | iobj_0->HomePositionInternal->data[0] = 0.0; |
| 15419 | } |
| 15420 | |
| 15421 | obj->JointInternal = iobj_0; |
| 15422 | obj->Index = -1.0; |
| 15423 | obj->ParentIndex = -1.0; |
| 15424 | return b_obj; |
| 15425 | } |
| 15426 | |
| 15427 | static w_robotics_manip_internal_Rig_T *c_RigidBody_Rigid_i |
| 15428 | (w_robotics_manip_internal_Rig_T *obj, c_rigidBodyJoint_cartesian__a_T *iobj_0) |
| 15429 | { |
| 15430 | w_robotics_manip_internal_Rig_T *b_obj; |
| 15431 | int8_T msubspace_data[36]; |
| 15432 | real_T poslim_data[12]; |
| 15433 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 15434 | boolean_T b_bool; |
| 15435 | int32_T b_kstr; |
| 15436 | char_T b[8]; |
| 15437 | char_T b_0[9]; |
| 15438 | int32_T loop_ub; |
| 15439 | int8_T tmp[6]; |
| 15440 | static const char_T tmp_0[10] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 15441 | '\x02' }; |
| 15442 | |
| 15443 | static const int8_T tmp_1[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, |
| 15444 | 1 }; |
| 15445 | |
| 15446 | static const char_T tmp_2[14] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 15447 | '\x02', '_', 'j', 'n', 't' }; |
| 15448 | |
| 15449 | static const char_T tmp_3[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 15450 | |
| 15451 | static const char_T tmp_4[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 15452 | |
| 15453 | static const char_T tmp_5[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 15454 | |
| 15455 | int32_T exitg1; |
| 15456 | b_obj = obj; |
| 15457 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 15458 | obj->NameInternal->size[0] = 1; |
| 15459 | obj->NameInternal->size[1] = 10; |
| 15460 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr); |
| 15461 | for (b_kstr = 0; b_kstr < 10; b_kstr++) { |
| 15462 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 15463 | } |
| 15464 | |
| 15465 | iobj_0->InTree = false; |
| 15466 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 15467 | iobj_0->JointToParentTransform[b_kstr] = tmp_1[b_kstr]; |
| 15468 | } |
| 15469 | |
| 15470 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 15471 | iobj_0->ChildToJointTransform[b_kstr] = tmp_1[b_kstr]; |
| 15472 | } |
| 15473 | |
| 15474 | b_kstr = iobj_0->NameInternal->size[0] * iobj_0->NameInternal->size[1]; |
| 15475 | iobj_0->NameInternal->size[0] = 1; |
| 15476 | iobj_0->NameInternal->size[1] = 14; |
| 15477 | cartes_emxEnsureCapacity_char_T(iobj_0->NameInternal, b_kstr); |
| 15478 | for (b_kstr = 0; b_kstr < 14; b_kstr++) { |
| 15479 | iobj_0->NameInternal->data[b_kstr] = tmp_2[b_kstr]; |
| 15480 | } |
| 15481 | |
| 15482 | b_kstr = iobj_0->Type->size[0] * iobj_0->Type->size[1]; |
| 15483 | iobj_0->Type->size[0] = 1; |
| 15484 | iobj_0->Type->size[1] = 5; |
| 15485 | cartes_emxEnsureCapacity_char_T(iobj_0->Type, b_kstr); |
| 15486 | for (b_kstr = 0; b_kstr < 5; b_kstr++) { |
| 15487 | iobj_0->Type->data[b_kstr] = tmp_3[b_kstr]; |
| 15488 | } |
| 15489 | |
| 15490 | cartesian_trajec_emxInit_char_T(&switch_expression, 2); |
| 15491 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 15492 | switch_expression->size[0] = 1; |
| 15493 | switch_expression->size[1] = iobj_0->Type->size[1]; |
| 15494 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr); |
| 15495 | loop_ub = iobj_0->Type->size[0] * iobj_0->Type->size[1] - 1; |
| 15496 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 15497 | switch_expression->data[b_kstr] = iobj_0->Type->data[b_kstr]; |
| 15498 | } |
| 15499 | |
| 15500 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 15501 | b[b_kstr] = tmp_4[b_kstr]; |
| 15502 | } |
| 15503 | |
| 15504 | b_bool = false; |
| 15505 | if (switch_expression->size[1] == 8) { |
| 15506 | b_kstr = 1; |
| 15507 | do { |
| 15508 | exitg1 = 0; |
| 15509 | if (b_kstr - 1 < 8) { |
| 15510 | loop_ub = b_kstr - 1; |
| 15511 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 15512 | exitg1 = 1; |
| 15513 | } else { |
| 15514 | b_kstr++; |
| 15515 | } |
| 15516 | } else { |
| 15517 | b_bool = true; |
| 15518 | exitg1 = 1; |
| 15519 | } |
| 15520 | } while (exitg1 == 0); |
| 15521 | } |
| 15522 | |
| 15523 | if (b_bool) { |
| 15524 | b_kstr = 0; |
| 15525 | } else { |
| 15526 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 15527 | b_0[b_kstr] = tmp_5[b_kstr]; |
| 15528 | } |
| 15529 | |
| 15530 | b_bool = false; |
| 15531 | if (switch_expression->size[1] == 9) { |
| 15532 | b_kstr = 1; |
| 15533 | do { |
| 15534 | exitg1 = 0; |
| 15535 | if (b_kstr - 1 < 9) { |
| 15536 | loop_ub = b_kstr - 1; |
| 15537 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 15538 | exitg1 = 1; |
| 15539 | } else { |
| 15540 | b_kstr++; |
| 15541 | } |
| 15542 | } else { |
| 15543 | b_bool = true; |
| 15544 | exitg1 = 1; |
| 15545 | } |
| 15546 | } while (exitg1 == 0); |
| 15547 | } |
| 15548 | |
| 15549 | if (b_bool) { |
| 15550 | b_kstr = 1; |
| 15551 | } else { |
| 15552 | b_kstr = -1; |
| 15553 | } |
| 15554 | } |
| 15555 | |
| 15556 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 15557 | switch (b_kstr) { |
| 15558 | case 0: |
| 15559 | tmp[0] = 0; |
| 15560 | tmp[1] = 0; |
| 15561 | tmp[2] = 1; |
| 15562 | tmp[3] = 0; |
| 15563 | tmp[4] = 0; |
| 15564 | tmp[5] = 0; |
| 15565 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 15566 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 15567 | } |
| 15568 | |
| 15569 | poslim_data[0] = -3.1415926535897931; |
| 15570 | poslim_data[1] = 3.1415926535897931; |
| 15571 | iobj_0->VelocityNumber = 1.0; |
| 15572 | iobj_0->PositionNumber = 1.0; |
| 15573 | iobj_0->JointAxisInternal[0] = 0.0; |
| 15574 | iobj_0->JointAxisInternal[1] = 0.0; |
| 15575 | iobj_0->JointAxisInternal[2] = 1.0; |
| 15576 | break; |
| 15577 | |
| 15578 | case 1: |
| 15579 | tmp[0] = 0; |
| 15580 | tmp[1] = 0; |
| 15581 | tmp[2] = 0; |
| 15582 | tmp[3] = 0; |
| 15583 | tmp[4] = 0; |
| 15584 | tmp[5] = 1; |
| 15585 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 15586 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 15587 | } |
| 15588 | |
| 15589 | poslim_data[0] = -0.5; |
| 15590 | poslim_data[1] = 0.5; |
| 15591 | iobj_0->VelocityNumber = 1.0; |
| 15592 | iobj_0->PositionNumber = 1.0; |
| 15593 | iobj_0->JointAxisInternal[0] = 0.0; |
| 15594 | iobj_0->JointAxisInternal[1] = 0.0; |
| 15595 | iobj_0->JointAxisInternal[2] = 1.0; |
| 15596 | break; |
| 15597 | |
| 15598 | default: |
| 15599 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 15600 | msubspace_data[b_kstr] = 0; |
| 15601 | } |
| 15602 | |
| 15603 | poslim_data[0] = 0.0; |
| 15604 | poslim_data[1] = 0.0; |
| 15605 | iobj_0->VelocityNumber = 0.0; |
| 15606 | iobj_0->PositionNumber = 0.0; |
| 15607 | iobj_0->JointAxisInternal[0] = 0.0; |
| 15608 | iobj_0->JointAxisInternal[1] = 0.0; |
| 15609 | iobj_0->JointAxisInternal[2] = 0.0; |
| 15610 | break; |
| 15611 | } |
| 15612 | |
| 15613 | b_kstr = iobj_0->MotionSubspace->size[0] * iobj_0->MotionSubspace->size[1]; |
| 15614 | iobj_0->MotionSubspace->size[0] = 6; |
| 15615 | iobj_0->MotionSubspace->size[1] = 1; |
| 15616 | cartes_emxEnsureCapacity_real_T(iobj_0->MotionSubspace, b_kstr); |
| 15617 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 15618 | iobj_0->MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 15619 | } |
| 15620 | |
| 15621 | b_kstr = iobj_0->PositionLimitsInternal->size[0] * |
| 15622 | iobj_0->PositionLimitsInternal->size[1]; |
| 15623 | iobj_0->PositionLimitsInternal->size[0] = 1; |
| 15624 | iobj_0->PositionLimitsInternal->size[1] = 2; |
| 15625 | cartes_emxEnsureCapacity_real_T(iobj_0->PositionLimitsInternal, b_kstr); |
| 15626 | for (b_kstr = 0; b_kstr < 2; b_kstr++) { |
| 15627 | iobj_0->PositionLimitsInternal->data[b_kstr] = poslim_data[b_kstr]; |
| 15628 | } |
| 15629 | |
| 15630 | b_kstr = iobj_0->HomePositionInternal->size[0]; |
| 15631 | iobj_0->HomePositionInternal->size[0] = 1; |
| 15632 | cartes_emxEnsureCapacity_real_T(iobj_0->HomePositionInternal, b_kstr); |
| 15633 | for (b_kstr = 0; b_kstr < 1; b_kstr++) { |
| 15634 | iobj_0->HomePositionInternal->data[0] = 0.0; |
| 15635 | } |
| 15636 | |
| 15637 | obj->JointInternal = iobj_0; |
| 15638 | obj->Index = -1.0; |
| 15639 | obj->ParentIndex = -1.0; |
| 15640 | return b_obj; |
| 15641 | } |
| 15642 | |
| 15643 | static w_robotics_manip_internal_Rig_T *c_RigidBody_Rigid_l |
| 15644 | (w_robotics_manip_internal_Rig_T *obj, c_rigidBodyJoint_cartesian__a_T *iobj_0) |
| 15645 | { |
| 15646 | w_robotics_manip_internal_Rig_T *b_obj; |
| 15647 | int8_T msubspace_data[36]; |
| 15648 | real_T poslim_data[12]; |
| 15649 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 15650 | boolean_T b_bool; |
| 15651 | int32_T b_kstr; |
| 15652 | char_T b[8]; |
| 15653 | char_T b_0[9]; |
| 15654 | int32_T loop_ub; |
| 15655 | int8_T tmp[6]; |
| 15656 | static const char_T tmp_0[10] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 15657 | '\x03' }; |
| 15658 | |
| 15659 | static const int8_T tmp_1[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, |
| 15660 | 1 }; |
| 15661 | |
| 15662 | static const char_T tmp_2[14] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 15663 | '\x03', '_', 'j', 'n', 't' }; |
| 15664 | |
| 15665 | static const char_T tmp_3[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 15666 | |
| 15667 | static const char_T tmp_4[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 15668 | |
| 15669 | static const char_T tmp_5[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 15670 | |
| 15671 | int32_T exitg1; |
| 15672 | b_obj = obj; |
| 15673 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 15674 | obj->NameInternal->size[0] = 1; |
| 15675 | obj->NameInternal->size[1] = 10; |
| 15676 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr); |
| 15677 | for (b_kstr = 0; b_kstr < 10; b_kstr++) { |
| 15678 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 15679 | } |
| 15680 | |
| 15681 | iobj_0->InTree = false; |
| 15682 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 15683 | iobj_0->JointToParentTransform[b_kstr] = tmp_1[b_kstr]; |
| 15684 | } |
| 15685 | |
| 15686 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 15687 | iobj_0->ChildToJointTransform[b_kstr] = tmp_1[b_kstr]; |
| 15688 | } |
| 15689 | |
| 15690 | b_kstr = iobj_0->NameInternal->size[0] * iobj_0->NameInternal->size[1]; |
| 15691 | iobj_0->NameInternal->size[0] = 1; |
| 15692 | iobj_0->NameInternal->size[1] = 14; |
| 15693 | cartes_emxEnsureCapacity_char_T(iobj_0->NameInternal, b_kstr); |
| 15694 | for (b_kstr = 0; b_kstr < 14; b_kstr++) { |
| 15695 | iobj_0->NameInternal->data[b_kstr] = tmp_2[b_kstr]; |
| 15696 | } |
| 15697 | |
| 15698 | b_kstr = iobj_0->Type->size[0] * iobj_0->Type->size[1]; |
| 15699 | iobj_0->Type->size[0] = 1; |
| 15700 | iobj_0->Type->size[1] = 5; |
| 15701 | cartes_emxEnsureCapacity_char_T(iobj_0->Type, b_kstr); |
| 15702 | for (b_kstr = 0; b_kstr < 5; b_kstr++) { |
| 15703 | iobj_0->Type->data[b_kstr] = tmp_3[b_kstr]; |
| 15704 | } |
| 15705 | |
| 15706 | cartesian_trajec_emxInit_char_T(&switch_expression, 2); |
| 15707 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 15708 | switch_expression->size[0] = 1; |
| 15709 | switch_expression->size[1] = iobj_0->Type->size[1]; |
| 15710 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr); |
| 15711 | loop_ub = iobj_0->Type->size[0] * iobj_0->Type->size[1] - 1; |
| 15712 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 15713 | switch_expression->data[b_kstr] = iobj_0->Type->data[b_kstr]; |
| 15714 | } |
| 15715 | |
| 15716 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 15717 | b[b_kstr] = tmp_4[b_kstr]; |
| 15718 | } |
| 15719 | |
| 15720 | b_bool = false; |
| 15721 | if (switch_expression->size[1] == 8) { |
| 15722 | b_kstr = 1; |
| 15723 | do { |
| 15724 | exitg1 = 0; |
| 15725 | if (b_kstr - 1 < 8) { |
| 15726 | loop_ub = b_kstr - 1; |
| 15727 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 15728 | exitg1 = 1; |
| 15729 | } else { |
| 15730 | b_kstr++; |
| 15731 | } |
| 15732 | } else { |
| 15733 | b_bool = true; |
| 15734 | exitg1 = 1; |
| 15735 | } |
| 15736 | } while (exitg1 == 0); |
| 15737 | } |
| 15738 | |
| 15739 | if (b_bool) { |
| 15740 | b_kstr = 0; |
| 15741 | } else { |
| 15742 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 15743 | b_0[b_kstr] = tmp_5[b_kstr]; |
| 15744 | } |
| 15745 | |
| 15746 | b_bool = false; |
| 15747 | if (switch_expression->size[1] == 9) { |
| 15748 | b_kstr = 1; |
| 15749 | do { |
| 15750 | exitg1 = 0; |
| 15751 | if (b_kstr - 1 < 9) { |
| 15752 | loop_ub = b_kstr - 1; |
| 15753 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 15754 | exitg1 = 1; |
| 15755 | } else { |
| 15756 | b_kstr++; |
| 15757 | } |
| 15758 | } else { |
| 15759 | b_bool = true; |
| 15760 | exitg1 = 1; |
| 15761 | } |
| 15762 | } while (exitg1 == 0); |
| 15763 | } |
| 15764 | |
| 15765 | if (b_bool) { |
| 15766 | b_kstr = 1; |
| 15767 | } else { |
| 15768 | b_kstr = -1; |
| 15769 | } |
| 15770 | } |
| 15771 | |
| 15772 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 15773 | switch (b_kstr) { |
| 15774 | case 0: |
| 15775 | tmp[0] = 0; |
| 15776 | tmp[1] = 0; |
| 15777 | tmp[2] = 1; |
| 15778 | tmp[3] = 0; |
| 15779 | tmp[4] = 0; |
| 15780 | tmp[5] = 0; |
| 15781 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 15782 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 15783 | } |
| 15784 | |
| 15785 | poslim_data[0] = -3.1415926535897931; |
| 15786 | poslim_data[1] = 3.1415926535897931; |
| 15787 | iobj_0->VelocityNumber = 1.0; |
| 15788 | iobj_0->PositionNumber = 1.0; |
| 15789 | iobj_0->JointAxisInternal[0] = 0.0; |
| 15790 | iobj_0->JointAxisInternal[1] = 0.0; |
| 15791 | iobj_0->JointAxisInternal[2] = 1.0; |
| 15792 | break; |
| 15793 | |
| 15794 | case 1: |
| 15795 | tmp[0] = 0; |
| 15796 | tmp[1] = 0; |
| 15797 | tmp[2] = 0; |
| 15798 | tmp[3] = 0; |
| 15799 | tmp[4] = 0; |
| 15800 | tmp[5] = 1; |
| 15801 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 15802 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 15803 | } |
| 15804 | |
| 15805 | poslim_data[0] = -0.5; |
| 15806 | poslim_data[1] = 0.5; |
| 15807 | iobj_0->VelocityNumber = 1.0; |
| 15808 | iobj_0->PositionNumber = 1.0; |
| 15809 | iobj_0->JointAxisInternal[0] = 0.0; |
| 15810 | iobj_0->JointAxisInternal[1] = 0.0; |
| 15811 | iobj_0->JointAxisInternal[2] = 1.0; |
| 15812 | break; |
| 15813 | |
| 15814 | default: |
| 15815 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 15816 | msubspace_data[b_kstr] = 0; |
| 15817 | } |
| 15818 | |
| 15819 | poslim_data[0] = 0.0; |
| 15820 | poslim_data[1] = 0.0; |
| 15821 | iobj_0->VelocityNumber = 0.0; |
| 15822 | iobj_0->PositionNumber = 0.0; |
| 15823 | iobj_0->JointAxisInternal[0] = 0.0; |
| 15824 | iobj_0->JointAxisInternal[1] = 0.0; |
| 15825 | iobj_0->JointAxisInternal[2] = 0.0; |
| 15826 | break; |
| 15827 | } |
| 15828 | |
| 15829 | b_kstr = iobj_0->MotionSubspace->size[0] * iobj_0->MotionSubspace->size[1]; |
| 15830 | iobj_0->MotionSubspace->size[0] = 6; |
| 15831 | iobj_0->MotionSubspace->size[1] = 1; |
| 15832 | cartes_emxEnsureCapacity_real_T(iobj_0->MotionSubspace, b_kstr); |
| 15833 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 15834 | iobj_0->MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 15835 | } |
| 15836 | |
| 15837 | b_kstr = iobj_0->PositionLimitsInternal->size[0] * |
| 15838 | iobj_0->PositionLimitsInternal->size[1]; |
| 15839 | iobj_0->PositionLimitsInternal->size[0] = 1; |
| 15840 | iobj_0->PositionLimitsInternal->size[1] = 2; |
| 15841 | cartes_emxEnsureCapacity_real_T(iobj_0->PositionLimitsInternal, b_kstr); |
| 15842 | for (b_kstr = 0; b_kstr < 2; b_kstr++) { |
| 15843 | iobj_0->PositionLimitsInternal->data[b_kstr] = poslim_data[b_kstr]; |
| 15844 | } |
| 15845 | |
| 15846 | b_kstr = iobj_0->HomePositionInternal->size[0]; |
| 15847 | iobj_0->HomePositionInternal->size[0] = 1; |
| 15848 | cartes_emxEnsureCapacity_real_T(iobj_0->HomePositionInternal, b_kstr); |
| 15849 | for (b_kstr = 0; b_kstr < 1; b_kstr++) { |
| 15850 | iobj_0->HomePositionInternal->data[0] = 0.0; |
| 15851 | } |
| 15852 | |
| 15853 | obj->JointInternal = iobj_0; |
| 15854 | obj->Index = -1.0; |
| 15855 | obj->ParentIndex = -1.0; |
| 15856 | return b_obj; |
| 15857 | } |
| 15858 | |
| 15859 | static w_robotics_manip_internal_Rig_T *c_RigidBody_Rigid_lh |
| 15860 | (w_robotics_manip_internal_Rig_T *obj, c_rigidBodyJoint_cartesian__a_T *iobj_0) |
| 15861 | { |
| 15862 | w_robotics_manip_internal_Rig_T *b_obj; |
| 15863 | int8_T msubspace_data[36]; |
| 15864 | real_T poslim_data[12]; |
| 15865 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 15866 | boolean_T b_bool; |
| 15867 | int32_T b_kstr; |
| 15868 | char_T b[8]; |
| 15869 | char_T b_0[9]; |
| 15870 | int32_T loop_ub; |
| 15871 | int8_T tmp[6]; |
| 15872 | static const char_T tmp_0[10] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 15873 | '\x04' }; |
| 15874 | |
| 15875 | static const int8_T tmp_1[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, |
| 15876 | 1 }; |
| 15877 | |
| 15878 | static const char_T tmp_2[14] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 15879 | '\x04', '_', 'j', 'n', 't' }; |
| 15880 | |
| 15881 | static const char_T tmp_3[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 15882 | |
| 15883 | static const char_T tmp_4[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 15884 | |
| 15885 | static const char_T tmp_5[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 15886 | |
| 15887 | int32_T exitg1; |
| 15888 | b_obj = obj; |
| 15889 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 15890 | obj->NameInternal->size[0] = 1; |
| 15891 | obj->NameInternal->size[1] = 10; |
| 15892 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr); |
| 15893 | for (b_kstr = 0; b_kstr < 10; b_kstr++) { |
| 15894 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 15895 | } |
| 15896 | |
| 15897 | iobj_0->InTree = false; |
| 15898 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 15899 | iobj_0->JointToParentTransform[b_kstr] = tmp_1[b_kstr]; |
| 15900 | } |
| 15901 | |
| 15902 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 15903 | iobj_0->ChildToJointTransform[b_kstr] = tmp_1[b_kstr]; |
| 15904 | } |
| 15905 | |
| 15906 | b_kstr = iobj_0->NameInternal->size[0] * iobj_0->NameInternal->size[1]; |
| 15907 | iobj_0->NameInternal->size[0] = 1; |
| 15908 | iobj_0->NameInternal->size[1] = 14; |
| 15909 | cartes_emxEnsureCapacity_char_T(iobj_0->NameInternal, b_kstr); |
| 15910 | for (b_kstr = 0; b_kstr < 14; b_kstr++) { |
| 15911 | iobj_0->NameInternal->data[b_kstr] = tmp_2[b_kstr]; |
| 15912 | } |
| 15913 | |
| 15914 | b_kstr = iobj_0->Type->size[0] * iobj_0->Type->size[1]; |
| 15915 | iobj_0->Type->size[0] = 1; |
| 15916 | iobj_0->Type->size[1] = 5; |
| 15917 | cartes_emxEnsureCapacity_char_T(iobj_0->Type, b_kstr); |
| 15918 | for (b_kstr = 0; b_kstr < 5; b_kstr++) { |
| 15919 | iobj_0->Type->data[b_kstr] = tmp_3[b_kstr]; |
| 15920 | } |
| 15921 | |
| 15922 | cartesian_trajec_emxInit_char_T(&switch_expression, 2); |
| 15923 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 15924 | switch_expression->size[0] = 1; |
| 15925 | switch_expression->size[1] = iobj_0->Type->size[1]; |
| 15926 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr); |
| 15927 | loop_ub = iobj_0->Type->size[0] * iobj_0->Type->size[1] - 1; |
| 15928 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 15929 | switch_expression->data[b_kstr] = iobj_0->Type->data[b_kstr]; |
| 15930 | } |
| 15931 | |
| 15932 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 15933 | b[b_kstr] = tmp_4[b_kstr]; |
| 15934 | } |
| 15935 | |
| 15936 | b_bool = false; |
| 15937 | if (switch_expression->size[1] == 8) { |
| 15938 | b_kstr = 1; |
| 15939 | do { |
| 15940 | exitg1 = 0; |
| 15941 | if (b_kstr - 1 < 8) { |
| 15942 | loop_ub = b_kstr - 1; |
| 15943 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 15944 | exitg1 = 1; |
| 15945 | } else { |
| 15946 | b_kstr++; |
| 15947 | } |
| 15948 | } else { |
| 15949 | b_bool = true; |
| 15950 | exitg1 = 1; |
| 15951 | } |
| 15952 | } while (exitg1 == 0); |
| 15953 | } |
| 15954 | |
| 15955 | if (b_bool) { |
| 15956 | b_kstr = 0; |
| 15957 | } else { |
| 15958 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 15959 | b_0[b_kstr] = tmp_5[b_kstr]; |
| 15960 | } |
| 15961 | |
| 15962 | b_bool = false; |
| 15963 | if (switch_expression->size[1] == 9) { |
| 15964 | b_kstr = 1; |
| 15965 | do { |
| 15966 | exitg1 = 0; |
| 15967 | if (b_kstr - 1 < 9) { |
| 15968 | loop_ub = b_kstr - 1; |
| 15969 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 15970 | exitg1 = 1; |
| 15971 | } else { |
| 15972 | b_kstr++; |
| 15973 | } |
| 15974 | } else { |
| 15975 | b_bool = true; |
| 15976 | exitg1 = 1; |
| 15977 | } |
| 15978 | } while (exitg1 == 0); |
| 15979 | } |
| 15980 | |
| 15981 | if (b_bool) { |
| 15982 | b_kstr = 1; |
| 15983 | } else { |
| 15984 | b_kstr = -1; |
| 15985 | } |
| 15986 | } |
| 15987 | |
| 15988 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 15989 | switch (b_kstr) { |
| 15990 | case 0: |
| 15991 | tmp[0] = 0; |
| 15992 | tmp[1] = 0; |
| 15993 | tmp[2] = 1; |
| 15994 | tmp[3] = 0; |
| 15995 | tmp[4] = 0; |
| 15996 | tmp[5] = 0; |
| 15997 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 15998 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 15999 | } |
| 16000 | |
| 16001 | poslim_data[0] = -3.1415926535897931; |
| 16002 | poslim_data[1] = 3.1415926535897931; |
| 16003 | iobj_0->VelocityNumber = 1.0; |
| 16004 | iobj_0->PositionNumber = 1.0; |
| 16005 | iobj_0->JointAxisInternal[0] = 0.0; |
| 16006 | iobj_0->JointAxisInternal[1] = 0.0; |
| 16007 | iobj_0->JointAxisInternal[2] = 1.0; |
| 16008 | break; |
| 16009 | |
| 16010 | case 1: |
| 16011 | tmp[0] = 0; |
| 16012 | tmp[1] = 0; |
| 16013 | tmp[2] = 0; |
| 16014 | tmp[3] = 0; |
| 16015 | tmp[4] = 0; |
| 16016 | tmp[5] = 1; |
| 16017 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 16018 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 16019 | } |
| 16020 | |
| 16021 | poslim_data[0] = -0.5; |
| 16022 | poslim_data[1] = 0.5; |
| 16023 | iobj_0->VelocityNumber = 1.0; |
| 16024 | iobj_0->PositionNumber = 1.0; |
| 16025 | iobj_0->JointAxisInternal[0] = 0.0; |
| 16026 | iobj_0->JointAxisInternal[1] = 0.0; |
| 16027 | iobj_0->JointAxisInternal[2] = 1.0; |
| 16028 | break; |
| 16029 | |
| 16030 | default: |
| 16031 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 16032 | msubspace_data[b_kstr] = 0; |
| 16033 | } |
| 16034 | |
| 16035 | poslim_data[0] = 0.0; |
| 16036 | poslim_data[1] = 0.0; |
| 16037 | iobj_0->VelocityNumber = 0.0; |
| 16038 | iobj_0->PositionNumber = 0.0; |
| 16039 | iobj_0->JointAxisInternal[0] = 0.0; |
| 16040 | iobj_0->JointAxisInternal[1] = 0.0; |
| 16041 | iobj_0->JointAxisInternal[2] = 0.0; |
| 16042 | break; |
| 16043 | } |
| 16044 | |
| 16045 | b_kstr = iobj_0->MotionSubspace->size[0] * iobj_0->MotionSubspace->size[1]; |
| 16046 | iobj_0->MotionSubspace->size[0] = 6; |
| 16047 | iobj_0->MotionSubspace->size[1] = 1; |
| 16048 | cartes_emxEnsureCapacity_real_T(iobj_0->MotionSubspace, b_kstr); |
| 16049 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 16050 | iobj_0->MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 16051 | } |
| 16052 | |
| 16053 | b_kstr = iobj_0->PositionLimitsInternal->size[0] * |
| 16054 | iobj_0->PositionLimitsInternal->size[1]; |
| 16055 | iobj_0->PositionLimitsInternal->size[0] = 1; |
| 16056 | iobj_0->PositionLimitsInternal->size[1] = 2; |
| 16057 | cartes_emxEnsureCapacity_real_T(iobj_0->PositionLimitsInternal, b_kstr); |
| 16058 | for (b_kstr = 0; b_kstr < 2; b_kstr++) { |
| 16059 | iobj_0->PositionLimitsInternal->data[b_kstr] = poslim_data[b_kstr]; |
| 16060 | } |
| 16061 | |
| 16062 | b_kstr = iobj_0->HomePositionInternal->size[0]; |
| 16063 | iobj_0->HomePositionInternal->size[0] = 1; |
| 16064 | cartes_emxEnsureCapacity_real_T(iobj_0->HomePositionInternal, b_kstr); |
| 16065 | for (b_kstr = 0; b_kstr < 1; b_kstr++) { |
| 16066 | iobj_0->HomePositionInternal->data[0] = 0.0; |
| 16067 | } |
| 16068 | |
| 16069 | obj->JointInternal = iobj_0; |
| 16070 | obj->Index = -1.0; |
| 16071 | obj->ParentIndex = -1.0; |
| 16072 | return b_obj; |
| 16073 | } |
| 16074 | |
| 16075 | static w_robotics_manip_internal_Rig_T *c_RigidBody_Rigid_k |
| 16076 | (w_robotics_manip_internal_Rig_T *obj, c_rigidBodyJoint_cartesian__a_T *iobj_0) |
| 16077 | { |
| 16078 | w_robotics_manip_internal_Rig_T *b_obj; |
| 16079 | int8_T msubspace_data[36]; |
| 16080 | real_T poslim_data[12]; |
| 16081 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 16082 | boolean_T b_bool; |
| 16083 | int32_T b_kstr; |
| 16084 | char_T b[8]; |
| 16085 | char_T b_0[9]; |
| 16086 | int32_T loop_ub; |
| 16087 | int8_T tmp[6]; |
| 16088 | static const char_T tmp_0[10] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 16089 | '\x05' }; |
| 16090 | |
| 16091 | static const int8_T tmp_1[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, |
| 16092 | 1 }; |
| 16093 | |
| 16094 | static const char_T tmp_2[14] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 16095 | '\x05', '_', 'j', 'n', 't' }; |
| 16096 | |
| 16097 | static const char_T tmp_3[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 16098 | |
| 16099 | static const char_T tmp_4[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 16100 | |
| 16101 | static const char_T tmp_5[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 16102 | |
| 16103 | int32_T exitg1; |
| 16104 | b_obj = obj; |
| 16105 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 16106 | obj->NameInternal->size[0] = 1; |
| 16107 | obj->NameInternal->size[1] = 10; |
| 16108 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr); |
| 16109 | for (b_kstr = 0; b_kstr < 10; b_kstr++) { |
| 16110 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 16111 | } |
| 16112 | |
| 16113 | iobj_0->InTree = false; |
| 16114 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 16115 | iobj_0->JointToParentTransform[b_kstr] = tmp_1[b_kstr]; |
| 16116 | } |
| 16117 | |
| 16118 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 16119 | iobj_0->ChildToJointTransform[b_kstr] = tmp_1[b_kstr]; |
| 16120 | } |
| 16121 | |
| 16122 | b_kstr = iobj_0->NameInternal->size[0] * iobj_0->NameInternal->size[1]; |
| 16123 | iobj_0->NameInternal->size[0] = 1; |
| 16124 | iobj_0->NameInternal->size[1] = 14; |
| 16125 | cartes_emxEnsureCapacity_char_T(iobj_0->NameInternal, b_kstr); |
| 16126 | for (b_kstr = 0; b_kstr < 14; b_kstr++) { |
| 16127 | iobj_0->NameInternal->data[b_kstr] = tmp_2[b_kstr]; |
| 16128 | } |
| 16129 | |
| 16130 | b_kstr = iobj_0->Type->size[0] * iobj_0->Type->size[1]; |
| 16131 | iobj_0->Type->size[0] = 1; |
| 16132 | iobj_0->Type->size[1] = 5; |
| 16133 | cartes_emxEnsureCapacity_char_T(iobj_0->Type, b_kstr); |
| 16134 | for (b_kstr = 0; b_kstr < 5; b_kstr++) { |
| 16135 | iobj_0->Type->data[b_kstr] = tmp_3[b_kstr]; |
| 16136 | } |
| 16137 | |
| 16138 | cartesian_trajec_emxInit_char_T(&switch_expression, 2); |
| 16139 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 16140 | switch_expression->size[0] = 1; |
| 16141 | switch_expression->size[1] = iobj_0->Type->size[1]; |
| 16142 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr); |
| 16143 | loop_ub = iobj_0->Type->size[0] * iobj_0->Type->size[1] - 1; |
| 16144 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 16145 | switch_expression->data[b_kstr] = iobj_0->Type->data[b_kstr]; |
| 16146 | } |
| 16147 | |
| 16148 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 16149 | b[b_kstr] = tmp_4[b_kstr]; |
| 16150 | } |
| 16151 | |
| 16152 | b_bool = false; |
| 16153 | if (switch_expression->size[1] == 8) { |
| 16154 | b_kstr = 1; |
| 16155 | do { |
| 16156 | exitg1 = 0; |
| 16157 | if (b_kstr - 1 < 8) { |
| 16158 | loop_ub = b_kstr - 1; |
| 16159 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 16160 | exitg1 = 1; |
| 16161 | } else { |
| 16162 | b_kstr++; |
| 16163 | } |
| 16164 | } else { |
| 16165 | b_bool = true; |
| 16166 | exitg1 = 1; |
| 16167 | } |
| 16168 | } while (exitg1 == 0); |
| 16169 | } |
| 16170 | |
| 16171 | if (b_bool) { |
| 16172 | b_kstr = 0; |
| 16173 | } else { |
| 16174 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 16175 | b_0[b_kstr] = tmp_5[b_kstr]; |
| 16176 | } |
| 16177 | |
| 16178 | b_bool = false; |
| 16179 | if (switch_expression->size[1] == 9) { |
| 16180 | b_kstr = 1; |
| 16181 | do { |
| 16182 | exitg1 = 0; |
| 16183 | if (b_kstr - 1 < 9) { |
| 16184 | loop_ub = b_kstr - 1; |
| 16185 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 16186 | exitg1 = 1; |
| 16187 | } else { |
| 16188 | b_kstr++; |
| 16189 | } |
| 16190 | } else { |
| 16191 | b_bool = true; |
| 16192 | exitg1 = 1; |
| 16193 | } |
| 16194 | } while (exitg1 == 0); |
| 16195 | } |
| 16196 | |
| 16197 | if (b_bool) { |
| 16198 | b_kstr = 1; |
| 16199 | } else { |
| 16200 | b_kstr = -1; |
| 16201 | } |
| 16202 | } |
| 16203 | |
| 16204 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 16205 | switch (b_kstr) { |
| 16206 | case 0: |
| 16207 | tmp[0] = 0; |
| 16208 | tmp[1] = 0; |
| 16209 | tmp[2] = 1; |
| 16210 | tmp[3] = 0; |
| 16211 | tmp[4] = 0; |
| 16212 | tmp[5] = 0; |
| 16213 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 16214 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 16215 | } |
| 16216 | |
| 16217 | poslim_data[0] = -3.1415926535897931; |
| 16218 | poslim_data[1] = 3.1415926535897931; |
| 16219 | iobj_0->VelocityNumber = 1.0; |
| 16220 | iobj_0->PositionNumber = 1.0; |
| 16221 | iobj_0->JointAxisInternal[0] = 0.0; |
| 16222 | iobj_0->JointAxisInternal[1] = 0.0; |
| 16223 | iobj_0->JointAxisInternal[2] = 1.0; |
| 16224 | break; |
| 16225 | |
| 16226 | case 1: |
| 16227 | tmp[0] = 0; |
| 16228 | tmp[1] = 0; |
| 16229 | tmp[2] = 0; |
| 16230 | tmp[3] = 0; |
| 16231 | tmp[4] = 0; |
| 16232 | tmp[5] = 1; |
| 16233 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 16234 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 16235 | } |
| 16236 | |
| 16237 | poslim_data[0] = -0.5; |
| 16238 | poslim_data[1] = 0.5; |
| 16239 | iobj_0->VelocityNumber = 1.0; |
| 16240 | iobj_0->PositionNumber = 1.0; |
| 16241 | iobj_0->JointAxisInternal[0] = 0.0; |
| 16242 | iobj_0->JointAxisInternal[1] = 0.0; |
| 16243 | iobj_0->JointAxisInternal[2] = 1.0; |
| 16244 | break; |
| 16245 | |
| 16246 | default: |
| 16247 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 16248 | msubspace_data[b_kstr] = 0; |
| 16249 | } |
| 16250 | |
| 16251 | poslim_data[0] = 0.0; |
| 16252 | poslim_data[1] = 0.0; |
| 16253 | iobj_0->VelocityNumber = 0.0; |
| 16254 | iobj_0->PositionNumber = 0.0; |
| 16255 | iobj_0->JointAxisInternal[0] = 0.0; |
| 16256 | iobj_0->JointAxisInternal[1] = 0.0; |
| 16257 | iobj_0->JointAxisInternal[2] = 0.0; |
| 16258 | break; |
| 16259 | } |
| 16260 | |
| 16261 | b_kstr = iobj_0->MotionSubspace->size[0] * iobj_0->MotionSubspace->size[1]; |
| 16262 | iobj_0->MotionSubspace->size[0] = 6; |
| 16263 | iobj_0->MotionSubspace->size[1] = 1; |
| 16264 | cartes_emxEnsureCapacity_real_T(iobj_0->MotionSubspace, b_kstr); |
| 16265 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 16266 | iobj_0->MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 16267 | } |
| 16268 | |
| 16269 | b_kstr = iobj_0->PositionLimitsInternal->size[0] * |
| 16270 | iobj_0->PositionLimitsInternal->size[1]; |
| 16271 | iobj_0->PositionLimitsInternal->size[0] = 1; |
| 16272 | iobj_0->PositionLimitsInternal->size[1] = 2; |
| 16273 | cartes_emxEnsureCapacity_real_T(iobj_0->PositionLimitsInternal, b_kstr); |
| 16274 | for (b_kstr = 0; b_kstr < 2; b_kstr++) { |
| 16275 | iobj_0->PositionLimitsInternal->data[b_kstr] = poslim_data[b_kstr]; |
| 16276 | } |
| 16277 | |
| 16278 | b_kstr = iobj_0->HomePositionInternal->size[0]; |
| 16279 | iobj_0->HomePositionInternal->size[0] = 1; |
| 16280 | cartes_emxEnsureCapacity_real_T(iobj_0->HomePositionInternal, b_kstr); |
| 16281 | for (b_kstr = 0; b_kstr < 1; b_kstr++) { |
| 16282 | iobj_0->HomePositionInternal->data[0] = 0.0; |
| 16283 | } |
| 16284 | |
| 16285 | obj->JointInternal = iobj_0; |
| 16286 | obj->Index = -1.0; |
| 16287 | obj->ParentIndex = -1.0; |
| 16288 | return b_obj; |
| 16289 | } |
| 16290 | |
| 16291 | static void ca_RigidBodyTree_clearAllBodies(x_robotics_manip_internal_Rig_T *obj, |
| 16292 | w_robotics_manip_internal_Rig_T *iobj_0, w_robotics_manip_internal_Rig_T |
| 16293 | *iobj_1, w_robotics_manip_internal_Rig_T *iobj_2, |
| 16294 | w_robotics_manip_internal_Rig_T *iobj_3, w_robotics_manip_internal_Rig_T |
| 16295 | *iobj_4, w_robotics_manip_internal_Rig_T *iobj_5, |
| 16296 | w_robotics_manip_internal_Rig_T *iobj_6, c_rigidBodyJoint_cartesian__a_T |
| 16297 | *iobj_7, c_rigidBodyJoint_cartesian__a_T *iobj_8, |
| 16298 | c_rigidBodyJoint_cartesian__a_T *iobj_9, c_rigidBodyJoint_cartesian__a_T |
| 16299 | *iobj_10, c_rigidBodyJoint_cartesian__a_T *iobj_11, |
| 16300 | c_rigidBodyJoint_cartesian__a_T *iobj_12, c_rigidBodyJoint_cartesian__a_T |
| 16301 | *iobj_13, c_rigidBodyJoint_cartesian__a_T *iobj_14, |
| 16302 | w_robotics_manip_internal_Rig_T *iobj_15) |
| 16303 | { |
| 16304 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 16305 | static const char_T tmp[10] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 16306 | '\x06' }; |
| 16307 | |
| 16308 | static const int8_T tmp_0[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, |
| 16309 | 1 }; |
| 16310 | |
| 16311 | static const char_T tmp_1[14] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 16312 | '\x06', '_', 'j', 'n', 't' }; |
| 16313 | |
| 16314 | static const char_T tmp_2[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 16315 | |
| 16316 | static const char_T tmp_3[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 16317 | |
| 16318 | static const char_T tmp_4[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 16319 | |
| 16320 | static const char_T tmp_5[10] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 16321 | '\x07' }; |
| 16322 | |
| 16323 | static const char_T tmp_6[14] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 16324 | '\x07', '_', 'j', 'n', 't' }; |
| 16325 | |
| 16326 | static const char_T tmp_7[10] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 16327 | '\x08' }; |
| 16328 | |
| 16329 | static const char_T tmp_8[14] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 16330 | '\x08', '_', 'j', 'n', 't' }; |
| 16331 | |
| 16332 | int32_T exitg1; |
| 16333 | obj->Bodies[0] = c_RigidBody_Rigid_b(iobj_15, iobj_14); |
| 16334 | obj->Bodies[1] = c_RigidBody_Rigid_i(iobj_0, iobj_7); |
| 16335 | obj->Bodies[2] = c_RigidBody_Rigid_l(iobj_1, iobj_8); |
| 16336 | obj->Bodies[3] = c_RigidBody_Rigid_lh(iobj_2, iobj_9); |
| 16337 | obj->Bodies[4] = c_RigidBody_Rigid_k(iobj_3, iobj_10); |
| 16338 | cartesian_trajectory_planner_B.b_kstr_m = iobj_4->NameInternal->size[0] * |
| 16339 | iobj_4->NameInternal->size[1]; |
| 16340 | iobj_4->NameInternal->size[0] = 1; |
| 16341 | iobj_4->NameInternal->size[1] = 10; |
| 16342 | cartes_emxEnsureCapacity_char_T(iobj_4->NameInternal, |
| 16343 | cartesian_trajectory_planner_B.b_kstr_m); |
| 16344 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16345 | cartesian_trajectory_planner_B.b_kstr_m < 10; |
| 16346 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16347 | iobj_4->NameInternal->data[cartesian_trajectory_planner_B.b_kstr_m] = |
| 16348 | tmp[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16349 | } |
| 16350 | |
| 16351 | iobj_11->InTree = false; |
| 16352 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16353 | cartesian_trajectory_planner_B.b_kstr_m < 16; |
| 16354 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16355 | iobj_11->JointToParentTransform[cartesian_trajectory_planner_B.b_kstr_m] = |
| 16356 | tmp_0[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16357 | } |
| 16358 | |
| 16359 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16360 | cartesian_trajectory_planner_B.b_kstr_m < 16; |
| 16361 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16362 | iobj_11->ChildToJointTransform[cartesian_trajectory_planner_B.b_kstr_m] = |
| 16363 | tmp_0[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16364 | } |
| 16365 | |
| 16366 | cartesian_trajectory_planner_B.b_kstr_m = iobj_11->NameInternal->size[0] * |
| 16367 | iobj_11->NameInternal->size[1]; |
| 16368 | iobj_11->NameInternal->size[0] = 1; |
| 16369 | iobj_11->NameInternal->size[1] = 14; |
| 16370 | cartes_emxEnsureCapacity_char_T(iobj_11->NameInternal, |
| 16371 | cartesian_trajectory_planner_B.b_kstr_m); |
| 16372 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16373 | cartesian_trajectory_planner_B.b_kstr_m < 14; |
| 16374 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16375 | iobj_11->NameInternal->data[cartesian_trajectory_planner_B.b_kstr_m] = |
| 16376 | tmp_1[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16377 | } |
| 16378 | |
| 16379 | cartesian_trajectory_planner_B.b_kstr_m = iobj_11->Type->size[0] * |
| 16380 | iobj_11->Type->size[1]; |
| 16381 | iobj_11->Type->size[0] = 1; |
| 16382 | iobj_11->Type->size[1] = 5; |
| 16383 | cartes_emxEnsureCapacity_char_T(iobj_11->Type, |
| 16384 | cartesian_trajectory_planner_B.b_kstr_m); |
| 16385 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16386 | cartesian_trajectory_planner_B.b_kstr_m < 5; |
| 16387 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16388 | iobj_11->Type->data[cartesian_trajectory_planner_B.b_kstr_m] = |
| 16389 | tmp_2[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16390 | } |
| 16391 | |
| 16392 | cartesian_trajec_emxInit_char_T(&switch_expression, 2); |
| 16393 | cartesian_trajectory_planner_B.b_kstr_m = switch_expression->size[0] * |
| 16394 | switch_expression->size[1]; |
| 16395 | switch_expression->size[0] = 1; |
| 16396 | switch_expression->size[1] = iobj_11->Type->size[1]; |
| 16397 | cartes_emxEnsureCapacity_char_T(switch_expression, |
| 16398 | cartesian_trajectory_planner_B.b_kstr_m); |
| 16399 | cartesian_trajectory_planner_B.loop_ub_o = iobj_11->Type->size[0] * |
| 16400 | iobj_11->Type->size[1] - 1; |
| 16401 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16402 | cartesian_trajectory_planner_B.b_kstr_m <= |
| 16403 | cartesian_trajectory_planner_B.loop_ub_o; |
| 16404 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16405 | switch_expression->data[cartesian_trajectory_planner_B.b_kstr_m] = |
| 16406 | iobj_11->Type->data[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16407 | } |
| 16408 | |
| 16409 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16410 | cartesian_trajectory_planner_B.b_kstr_m < 8; |
| 16411 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16412 | cartesian_trajectory_planner_B.b_nj[cartesian_trajectory_planner_B.b_kstr_m] |
| 16413 | = tmp_3[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16414 | } |
| 16415 | |
| 16416 | cartesian_trajectory_planner_B.b_bool_pn = false; |
| 16417 | if (switch_expression->size[1] == 8) { |
| 16418 | cartesian_trajectory_planner_B.b_kstr_m = 1; |
| 16419 | do { |
| 16420 | exitg1 = 0; |
| 16421 | if (cartesian_trajectory_planner_B.b_kstr_m - 1 < 8) { |
| 16422 | cartesian_trajectory_planner_B.loop_ub_o = |
| 16423 | cartesian_trajectory_planner_B.b_kstr_m - 1; |
| 16424 | if (switch_expression->data[cartesian_trajectory_planner_B.loop_ub_o] != |
| 16425 | cartesian_trajectory_planner_B.b_nj[cartesian_trajectory_planner_B.loop_ub_o]) |
| 16426 | { |
| 16427 | exitg1 = 1; |
| 16428 | } else { |
| 16429 | cartesian_trajectory_planner_B.b_kstr_m++; |
| 16430 | } |
| 16431 | } else { |
| 16432 | cartesian_trajectory_planner_B.b_bool_pn = true; |
| 16433 | exitg1 = 1; |
| 16434 | } |
| 16435 | } while (exitg1 == 0); |
| 16436 | } |
| 16437 | |
| 16438 | if (cartesian_trajectory_planner_B.b_bool_pn) { |
| 16439 | cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16440 | } else { |
| 16441 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16442 | cartesian_trajectory_planner_B.b_kstr_m < 9; |
| 16443 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16444 | cartesian_trajectory_planner_B.b_g[cartesian_trajectory_planner_B.b_kstr_m] |
| 16445 | = tmp_4[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16446 | } |
| 16447 | |
| 16448 | cartesian_trajectory_planner_B.b_bool_pn = false; |
| 16449 | if (switch_expression->size[1] == 9) { |
| 16450 | cartesian_trajectory_planner_B.b_kstr_m = 1; |
| 16451 | do { |
| 16452 | exitg1 = 0; |
| 16453 | if (cartesian_trajectory_planner_B.b_kstr_m - 1 < 9) { |
| 16454 | cartesian_trajectory_planner_B.loop_ub_o = |
| 16455 | cartesian_trajectory_planner_B.b_kstr_m - 1; |
| 16456 | if (switch_expression->data[cartesian_trajectory_planner_B.loop_ub_o] |
| 16457 | != |
| 16458 | cartesian_trajectory_planner_B.b_g[cartesian_trajectory_planner_B.loop_ub_o]) |
| 16459 | { |
| 16460 | exitg1 = 1; |
| 16461 | } else { |
| 16462 | cartesian_trajectory_planner_B.b_kstr_m++; |
| 16463 | } |
| 16464 | } else { |
| 16465 | cartesian_trajectory_planner_B.b_bool_pn = true; |
| 16466 | exitg1 = 1; |
| 16467 | } |
| 16468 | } while (exitg1 == 0); |
| 16469 | } |
| 16470 | |
| 16471 | if (cartesian_trajectory_planner_B.b_bool_pn) { |
| 16472 | cartesian_trajectory_planner_B.b_kstr_m = 1; |
| 16473 | } else { |
| 16474 | cartesian_trajectory_planner_B.b_kstr_m = -1; |
| 16475 | } |
| 16476 | } |
| 16477 | |
| 16478 | switch (cartesian_trajectory_planner_B.b_kstr_m) { |
| 16479 | case 0: |
| 16480 | cartesian_trajectory_planner_B.iv1[0] = 0; |
| 16481 | cartesian_trajectory_planner_B.iv1[1] = 0; |
| 16482 | cartesian_trajectory_planner_B.iv1[2] = 1; |
| 16483 | cartesian_trajectory_planner_B.iv1[3] = 0; |
| 16484 | cartesian_trajectory_planner_B.iv1[4] = 0; |
| 16485 | cartesian_trajectory_planner_B.iv1[5] = 0; |
| 16486 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16487 | cartesian_trajectory_planner_B.b_kstr_m < 6; |
| 16488 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16489 | cartesian_trajectory_planner_B.msubspace_data_i[cartesian_trajectory_planner_B.b_kstr_m] |
| 16490 | = |
| 16491 | cartesian_trajectory_planner_B.iv1[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16492 | } |
| 16493 | |
| 16494 | cartesian_trajectory_planner_B.poslim_data_a[0] = -3.1415926535897931; |
| 16495 | cartesian_trajectory_planner_B.poslim_data_a[1] = 3.1415926535897931; |
| 16496 | iobj_11->VelocityNumber = 1.0; |
| 16497 | iobj_11->PositionNumber = 1.0; |
| 16498 | iobj_11->JointAxisInternal[0] = 0.0; |
| 16499 | iobj_11->JointAxisInternal[1] = 0.0; |
| 16500 | iobj_11->JointAxisInternal[2] = 1.0; |
| 16501 | break; |
| 16502 | |
| 16503 | case 1: |
| 16504 | cartesian_trajectory_planner_B.iv1[0] = 0; |
| 16505 | cartesian_trajectory_planner_B.iv1[1] = 0; |
| 16506 | cartesian_trajectory_planner_B.iv1[2] = 0; |
| 16507 | cartesian_trajectory_planner_B.iv1[3] = 0; |
| 16508 | cartesian_trajectory_planner_B.iv1[4] = 0; |
| 16509 | cartesian_trajectory_planner_B.iv1[5] = 1; |
| 16510 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16511 | cartesian_trajectory_planner_B.b_kstr_m < 6; |
| 16512 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16513 | cartesian_trajectory_planner_B.msubspace_data_i[cartesian_trajectory_planner_B.b_kstr_m] |
| 16514 | = |
| 16515 | cartesian_trajectory_planner_B.iv1[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16516 | } |
| 16517 | |
| 16518 | cartesian_trajectory_planner_B.poslim_data_a[0] = -0.5; |
| 16519 | cartesian_trajectory_planner_B.poslim_data_a[1] = 0.5; |
| 16520 | iobj_11->VelocityNumber = 1.0; |
| 16521 | iobj_11->PositionNumber = 1.0; |
| 16522 | iobj_11->JointAxisInternal[0] = 0.0; |
| 16523 | iobj_11->JointAxisInternal[1] = 0.0; |
| 16524 | iobj_11->JointAxisInternal[2] = 1.0; |
| 16525 | break; |
| 16526 | |
| 16527 | default: |
| 16528 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16529 | cartesian_trajectory_planner_B.b_kstr_m < 6; |
| 16530 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16531 | cartesian_trajectory_planner_B.msubspace_data_i[cartesian_trajectory_planner_B.b_kstr_m] |
| 16532 | = 0; |
| 16533 | } |
| 16534 | |
| 16535 | cartesian_trajectory_planner_B.poslim_data_a[0] = 0.0; |
| 16536 | cartesian_trajectory_planner_B.poslim_data_a[1] = 0.0; |
| 16537 | iobj_11->VelocityNumber = 0.0; |
| 16538 | iobj_11->PositionNumber = 0.0; |
| 16539 | iobj_11->JointAxisInternal[0] = 0.0; |
| 16540 | iobj_11->JointAxisInternal[1] = 0.0; |
| 16541 | iobj_11->JointAxisInternal[2] = 0.0; |
| 16542 | break; |
| 16543 | } |
| 16544 | |
| 16545 | cartesian_trajectory_planner_B.b_kstr_m = iobj_11->MotionSubspace->size[0] * |
| 16546 | iobj_11->MotionSubspace->size[1]; |
| 16547 | iobj_11->MotionSubspace->size[0] = 6; |
| 16548 | iobj_11->MotionSubspace->size[1] = 1; |
| 16549 | cartes_emxEnsureCapacity_real_T(iobj_11->MotionSubspace, |
| 16550 | cartesian_trajectory_planner_B.b_kstr_m); |
| 16551 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16552 | cartesian_trajectory_planner_B.b_kstr_m < 6; |
| 16553 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16554 | iobj_11->MotionSubspace->data[cartesian_trajectory_planner_B.b_kstr_m] = |
| 16555 | cartesian_trajectory_planner_B.msubspace_data_i[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16556 | } |
| 16557 | |
| 16558 | cartesian_trajectory_planner_B.b_kstr_m = iobj_11-> |
| 16559 | PositionLimitsInternal->size[0] * iobj_11->PositionLimitsInternal->size[1]; |
| 16560 | iobj_11->PositionLimitsInternal->size[0] = 1; |
| 16561 | iobj_11->PositionLimitsInternal->size[1] = 2; |
| 16562 | cartes_emxEnsureCapacity_real_T(iobj_11->PositionLimitsInternal, |
| 16563 | cartesian_trajectory_planner_B.b_kstr_m); |
| 16564 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16565 | cartesian_trajectory_planner_B.b_kstr_m < 2; |
| 16566 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16567 | iobj_11->PositionLimitsInternal-> |
| 16568 | data[cartesian_trajectory_planner_B.b_kstr_m] = |
| 16569 | cartesian_trajectory_planner_B.poslim_data_a[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16570 | } |
| 16571 | |
| 16572 | cartesian_trajectory_planner_B.b_kstr_m = iobj_11->HomePositionInternal->size |
| 16573 | [0]; |
| 16574 | iobj_11->HomePositionInternal->size[0] = 1; |
| 16575 | cartes_emxEnsureCapacity_real_T(iobj_11->HomePositionInternal, |
| 16576 | cartesian_trajectory_planner_B.b_kstr_m); |
| 16577 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16578 | cartesian_trajectory_planner_B.b_kstr_m < 1; |
| 16579 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16580 | iobj_11->HomePositionInternal->data[0] = 0.0; |
| 16581 | } |
| 16582 | |
| 16583 | iobj_4->JointInternal = iobj_11; |
| 16584 | iobj_4->Index = -1.0; |
| 16585 | iobj_4->ParentIndex = -1.0; |
| 16586 | obj->Bodies[5] = iobj_4; |
| 16587 | cartesian_trajectory_planner_B.b_kstr_m = iobj_5->NameInternal->size[0] * |
| 16588 | iobj_5->NameInternal->size[1]; |
| 16589 | iobj_5->NameInternal->size[0] = 1; |
| 16590 | iobj_5->NameInternal->size[1] = 10; |
| 16591 | cartes_emxEnsureCapacity_char_T(iobj_5->NameInternal, |
| 16592 | cartesian_trajectory_planner_B.b_kstr_m); |
| 16593 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16594 | cartesian_trajectory_planner_B.b_kstr_m < 10; |
| 16595 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16596 | iobj_5->NameInternal->data[cartesian_trajectory_planner_B.b_kstr_m] = |
| 16597 | tmp_5[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16598 | } |
| 16599 | |
| 16600 | iobj_12->InTree = false; |
| 16601 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16602 | cartesian_trajectory_planner_B.b_kstr_m < 16; |
| 16603 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16604 | iobj_12->JointToParentTransform[cartesian_trajectory_planner_B.b_kstr_m] = |
| 16605 | tmp_0[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16606 | } |
| 16607 | |
| 16608 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16609 | cartesian_trajectory_planner_B.b_kstr_m < 16; |
| 16610 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16611 | iobj_12->ChildToJointTransform[cartesian_trajectory_planner_B.b_kstr_m] = |
| 16612 | tmp_0[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16613 | } |
| 16614 | |
| 16615 | cartesian_trajectory_planner_B.b_kstr_m = iobj_12->NameInternal->size[0] * |
| 16616 | iobj_12->NameInternal->size[1]; |
| 16617 | iobj_12->NameInternal->size[0] = 1; |
| 16618 | iobj_12->NameInternal->size[1] = 14; |
| 16619 | cartes_emxEnsureCapacity_char_T(iobj_12->NameInternal, |
| 16620 | cartesian_trajectory_planner_B.b_kstr_m); |
| 16621 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16622 | cartesian_trajectory_planner_B.b_kstr_m < 14; |
| 16623 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16624 | iobj_12->NameInternal->data[cartesian_trajectory_planner_B.b_kstr_m] = |
| 16625 | tmp_6[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16626 | } |
| 16627 | |
| 16628 | cartesian_trajectory_planner_B.b_kstr_m = iobj_12->Type->size[0] * |
| 16629 | iobj_12->Type->size[1]; |
| 16630 | iobj_12->Type->size[0] = 1; |
| 16631 | iobj_12->Type->size[1] = 5; |
| 16632 | cartes_emxEnsureCapacity_char_T(iobj_12->Type, |
| 16633 | cartesian_trajectory_planner_B.b_kstr_m); |
| 16634 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16635 | cartesian_trajectory_planner_B.b_kstr_m < 5; |
| 16636 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16637 | iobj_12->Type->data[cartesian_trajectory_planner_B.b_kstr_m] = |
| 16638 | tmp_2[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16639 | } |
| 16640 | |
| 16641 | cartesian_trajectory_planner_B.b_kstr_m = switch_expression->size[0] * |
| 16642 | switch_expression->size[1]; |
| 16643 | switch_expression->size[0] = 1; |
| 16644 | switch_expression->size[1] = iobj_12->Type->size[1]; |
| 16645 | cartes_emxEnsureCapacity_char_T(switch_expression, |
| 16646 | cartesian_trajectory_planner_B.b_kstr_m); |
| 16647 | cartesian_trajectory_planner_B.loop_ub_o = iobj_12->Type->size[0] * |
| 16648 | iobj_12->Type->size[1] - 1; |
| 16649 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16650 | cartesian_trajectory_planner_B.b_kstr_m <= |
| 16651 | cartesian_trajectory_planner_B.loop_ub_o; |
| 16652 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16653 | switch_expression->data[cartesian_trajectory_planner_B.b_kstr_m] = |
| 16654 | iobj_12->Type->data[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16655 | } |
| 16656 | |
| 16657 | cartesian_trajectory_planner_B.b_bool_pn = false; |
| 16658 | if (switch_expression->size[1] == 8) { |
| 16659 | cartesian_trajectory_planner_B.b_kstr_m = 1; |
| 16660 | do { |
| 16661 | exitg1 = 0; |
| 16662 | if (cartesian_trajectory_planner_B.b_kstr_m - 1 < 8) { |
| 16663 | cartesian_trajectory_planner_B.loop_ub_o = |
| 16664 | cartesian_trajectory_planner_B.b_kstr_m - 1; |
| 16665 | if (switch_expression->data[cartesian_trajectory_planner_B.loop_ub_o] != |
| 16666 | cartesian_trajectory_planner_B.b_nj[cartesian_trajectory_planner_B.loop_ub_o]) |
| 16667 | { |
| 16668 | exitg1 = 1; |
| 16669 | } else { |
| 16670 | cartesian_trajectory_planner_B.b_kstr_m++; |
| 16671 | } |
| 16672 | } else { |
| 16673 | cartesian_trajectory_planner_B.b_bool_pn = true; |
| 16674 | exitg1 = 1; |
| 16675 | } |
| 16676 | } while (exitg1 == 0); |
| 16677 | } |
| 16678 | |
| 16679 | if (cartesian_trajectory_planner_B.b_bool_pn) { |
| 16680 | cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16681 | } else { |
| 16682 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16683 | cartesian_trajectory_planner_B.b_kstr_m < 9; |
| 16684 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16685 | cartesian_trajectory_planner_B.b_g[cartesian_trajectory_planner_B.b_kstr_m] |
| 16686 | = tmp_4[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16687 | } |
| 16688 | |
| 16689 | cartesian_trajectory_planner_B.b_bool_pn = false; |
| 16690 | if (switch_expression->size[1] == 9) { |
| 16691 | cartesian_trajectory_planner_B.b_kstr_m = 1; |
| 16692 | do { |
| 16693 | exitg1 = 0; |
| 16694 | if (cartesian_trajectory_planner_B.b_kstr_m - 1 < 9) { |
| 16695 | cartesian_trajectory_planner_B.loop_ub_o = |
| 16696 | cartesian_trajectory_planner_B.b_kstr_m - 1; |
| 16697 | if (switch_expression->data[cartesian_trajectory_planner_B.loop_ub_o] |
| 16698 | != |
| 16699 | cartesian_trajectory_planner_B.b_g[cartesian_trajectory_planner_B.loop_ub_o]) |
| 16700 | { |
| 16701 | exitg1 = 1; |
| 16702 | } else { |
| 16703 | cartesian_trajectory_planner_B.b_kstr_m++; |
| 16704 | } |
| 16705 | } else { |
| 16706 | cartesian_trajectory_planner_B.b_bool_pn = true; |
| 16707 | exitg1 = 1; |
| 16708 | } |
| 16709 | } while (exitg1 == 0); |
| 16710 | } |
| 16711 | |
| 16712 | if (cartesian_trajectory_planner_B.b_bool_pn) { |
| 16713 | cartesian_trajectory_planner_B.b_kstr_m = 1; |
| 16714 | } else { |
| 16715 | cartesian_trajectory_planner_B.b_kstr_m = -1; |
| 16716 | } |
| 16717 | } |
| 16718 | |
| 16719 | switch (cartesian_trajectory_planner_B.b_kstr_m) { |
| 16720 | case 0: |
| 16721 | cartesian_trajectory_planner_B.iv1[0] = 0; |
| 16722 | cartesian_trajectory_planner_B.iv1[1] = 0; |
| 16723 | cartesian_trajectory_planner_B.iv1[2] = 1; |
| 16724 | cartesian_trajectory_planner_B.iv1[3] = 0; |
| 16725 | cartesian_trajectory_planner_B.iv1[4] = 0; |
| 16726 | cartesian_trajectory_planner_B.iv1[5] = 0; |
| 16727 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16728 | cartesian_trajectory_planner_B.b_kstr_m < 6; |
| 16729 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16730 | cartesian_trajectory_planner_B.msubspace_data_i[cartesian_trajectory_planner_B.b_kstr_m] |
| 16731 | = |
| 16732 | cartesian_trajectory_planner_B.iv1[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16733 | } |
| 16734 | |
| 16735 | cartesian_trajectory_planner_B.poslim_data_a[0] = -3.1415926535897931; |
| 16736 | cartesian_trajectory_planner_B.poslim_data_a[1] = 3.1415926535897931; |
| 16737 | iobj_12->VelocityNumber = 1.0; |
| 16738 | iobj_12->PositionNumber = 1.0; |
| 16739 | iobj_12->JointAxisInternal[0] = 0.0; |
| 16740 | iobj_12->JointAxisInternal[1] = 0.0; |
| 16741 | iobj_12->JointAxisInternal[2] = 1.0; |
| 16742 | break; |
| 16743 | |
| 16744 | case 1: |
| 16745 | cartesian_trajectory_planner_B.iv1[0] = 0; |
| 16746 | cartesian_trajectory_planner_B.iv1[1] = 0; |
| 16747 | cartesian_trajectory_planner_B.iv1[2] = 0; |
| 16748 | cartesian_trajectory_planner_B.iv1[3] = 0; |
| 16749 | cartesian_trajectory_planner_B.iv1[4] = 0; |
| 16750 | cartesian_trajectory_planner_B.iv1[5] = 1; |
| 16751 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16752 | cartesian_trajectory_planner_B.b_kstr_m < 6; |
| 16753 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16754 | cartesian_trajectory_planner_B.msubspace_data_i[cartesian_trajectory_planner_B.b_kstr_m] |
| 16755 | = |
| 16756 | cartesian_trajectory_planner_B.iv1[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16757 | } |
| 16758 | |
| 16759 | cartesian_trajectory_planner_B.poslim_data_a[0] = -0.5; |
| 16760 | cartesian_trajectory_planner_B.poslim_data_a[1] = 0.5; |
| 16761 | iobj_12->VelocityNumber = 1.0; |
| 16762 | iobj_12->PositionNumber = 1.0; |
| 16763 | iobj_12->JointAxisInternal[0] = 0.0; |
| 16764 | iobj_12->JointAxisInternal[1] = 0.0; |
| 16765 | iobj_12->JointAxisInternal[2] = 1.0; |
| 16766 | break; |
| 16767 | |
| 16768 | default: |
| 16769 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16770 | cartesian_trajectory_planner_B.b_kstr_m < 6; |
| 16771 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16772 | cartesian_trajectory_planner_B.msubspace_data_i[cartesian_trajectory_planner_B.b_kstr_m] |
| 16773 | = 0; |
| 16774 | } |
| 16775 | |
| 16776 | cartesian_trajectory_planner_B.poslim_data_a[0] = 0.0; |
| 16777 | cartesian_trajectory_planner_B.poslim_data_a[1] = 0.0; |
| 16778 | iobj_12->VelocityNumber = 0.0; |
| 16779 | iobj_12->PositionNumber = 0.0; |
| 16780 | iobj_12->JointAxisInternal[0] = 0.0; |
| 16781 | iobj_12->JointAxisInternal[1] = 0.0; |
| 16782 | iobj_12->JointAxisInternal[2] = 0.0; |
| 16783 | break; |
| 16784 | } |
| 16785 | |
| 16786 | cartesian_trajectory_planner_B.b_kstr_m = iobj_12->MotionSubspace->size[0] * |
| 16787 | iobj_12->MotionSubspace->size[1]; |
| 16788 | iobj_12->MotionSubspace->size[0] = 6; |
| 16789 | iobj_12->MotionSubspace->size[1] = 1; |
| 16790 | cartes_emxEnsureCapacity_real_T(iobj_12->MotionSubspace, |
| 16791 | cartesian_trajectory_planner_B.b_kstr_m); |
| 16792 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16793 | cartesian_trajectory_planner_B.b_kstr_m < 6; |
| 16794 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16795 | iobj_12->MotionSubspace->data[cartesian_trajectory_planner_B.b_kstr_m] = |
| 16796 | cartesian_trajectory_planner_B.msubspace_data_i[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16797 | } |
| 16798 | |
| 16799 | cartesian_trajectory_planner_B.b_kstr_m = iobj_12-> |
| 16800 | PositionLimitsInternal->size[0] * iobj_12->PositionLimitsInternal->size[1]; |
| 16801 | iobj_12->PositionLimitsInternal->size[0] = 1; |
| 16802 | iobj_12->PositionLimitsInternal->size[1] = 2; |
| 16803 | cartes_emxEnsureCapacity_real_T(iobj_12->PositionLimitsInternal, |
| 16804 | cartesian_trajectory_planner_B.b_kstr_m); |
| 16805 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16806 | cartesian_trajectory_planner_B.b_kstr_m < 2; |
| 16807 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16808 | iobj_12->PositionLimitsInternal-> |
| 16809 | data[cartesian_trajectory_planner_B.b_kstr_m] = |
| 16810 | cartesian_trajectory_planner_B.poslim_data_a[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16811 | } |
| 16812 | |
| 16813 | cartesian_trajectory_planner_B.b_kstr_m = iobj_12->HomePositionInternal->size |
| 16814 | [0]; |
| 16815 | iobj_12->HomePositionInternal->size[0] = 1; |
| 16816 | cartes_emxEnsureCapacity_real_T(iobj_12->HomePositionInternal, |
| 16817 | cartesian_trajectory_planner_B.b_kstr_m); |
| 16818 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16819 | cartesian_trajectory_planner_B.b_kstr_m < 1; |
| 16820 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16821 | iobj_12->HomePositionInternal->data[0] = 0.0; |
| 16822 | } |
| 16823 | |
| 16824 | iobj_5->JointInternal = iobj_12; |
| 16825 | iobj_5->Index = -1.0; |
| 16826 | iobj_5->ParentIndex = -1.0; |
| 16827 | obj->Bodies[6] = iobj_5; |
| 16828 | cartesian_trajectory_planner_B.b_kstr_m = iobj_6->NameInternal->size[0] * |
| 16829 | iobj_6->NameInternal->size[1]; |
| 16830 | iobj_6->NameInternal->size[0] = 1; |
| 16831 | iobj_6->NameInternal->size[1] = 10; |
| 16832 | cartes_emxEnsureCapacity_char_T(iobj_6->NameInternal, |
| 16833 | cartesian_trajectory_planner_B.b_kstr_m); |
| 16834 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16835 | cartesian_trajectory_planner_B.b_kstr_m < 10; |
| 16836 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16837 | iobj_6->NameInternal->data[cartesian_trajectory_planner_B.b_kstr_m] = |
| 16838 | tmp_7[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16839 | } |
| 16840 | |
| 16841 | iobj_13->InTree = false; |
| 16842 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16843 | cartesian_trajectory_planner_B.b_kstr_m < 16; |
| 16844 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16845 | iobj_13->JointToParentTransform[cartesian_trajectory_planner_B.b_kstr_m] = |
| 16846 | tmp_0[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16847 | } |
| 16848 | |
| 16849 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16850 | cartesian_trajectory_planner_B.b_kstr_m < 16; |
| 16851 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16852 | iobj_13->ChildToJointTransform[cartesian_trajectory_planner_B.b_kstr_m] = |
| 16853 | tmp_0[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16854 | } |
| 16855 | |
| 16856 | cartesian_trajectory_planner_B.b_kstr_m = iobj_13->NameInternal->size[0] * |
| 16857 | iobj_13->NameInternal->size[1]; |
| 16858 | iobj_13->NameInternal->size[0] = 1; |
| 16859 | iobj_13->NameInternal->size[1] = 14; |
| 16860 | cartes_emxEnsureCapacity_char_T(iobj_13->NameInternal, |
| 16861 | cartesian_trajectory_planner_B.b_kstr_m); |
| 16862 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16863 | cartesian_trajectory_planner_B.b_kstr_m < 14; |
| 16864 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16865 | iobj_13->NameInternal->data[cartesian_trajectory_planner_B.b_kstr_m] = |
| 16866 | tmp_8[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16867 | } |
| 16868 | |
| 16869 | cartesian_trajectory_planner_B.b_kstr_m = iobj_13->Type->size[0] * |
| 16870 | iobj_13->Type->size[1]; |
| 16871 | iobj_13->Type->size[0] = 1; |
| 16872 | iobj_13->Type->size[1] = 5; |
| 16873 | cartes_emxEnsureCapacity_char_T(iobj_13->Type, |
| 16874 | cartesian_trajectory_planner_B.b_kstr_m); |
| 16875 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16876 | cartesian_trajectory_planner_B.b_kstr_m < 5; |
| 16877 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16878 | iobj_13->Type->data[cartesian_trajectory_planner_B.b_kstr_m] = |
| 16879 | tmp_2[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16880 | } |
| 16881 | |
| 16882 | cartesian_trajectory_planner_B.b_kstr_m = switch_expression->size[0] * |
| 16883 | switch_expression->size[1]; |
| 16884 | switch_expression->size[0] = 1; |
| 16885 | switch_expression->size[1] = iobj_13->Type->size[1]; |
| 16886 | cartes_emxEnsureCapacity_char_T(switch_expression, |
| 16887 | cartesian_trajectory_planner_B.b_kstr_m); |
| 16888 | cartesian_trajectory_planner_B.loop_ub_o = iobj_13->Type->size[0] * |
| 16889 | iobj_13->Type->size[1] - 1; |
| 16890 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16891 | cartesian_trajectory_planner_B.b_kstr_m <= |
| 16892 | cartesian_trajectory_planner_B.loop_ub_o; |
| 16893 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16894 | switch_expression->data[cartesian_trajectory_planner_B.b_kstr_m] = |
| 16895 | iobj_13->Type->data[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16896 | } |
| 16897 | |
| 16898 | cartesian_trajectory_planner_B.b_bool_pn = false; |
| 16899 | if (switch_expression->size[1] == 8) { |
| 16900 | cartesian_trajectory_planner_B.b_kstr_m = 1; |
| 16901 | do { |
| 16902 | exitg1 = 0; |
| 16903 | if (cartesian_trajectory_planner_B.b_kstr_m - 1 < 8) { |
| 16904 | cartesian_trajectory_planner_B.loop_ub_o = |
| 16905 | cartesian_trajectory_planner_B.b_kstr_m - 1; |
| 16906 | if (switch_expression->data[cartesian_trajectory_planner_B.loop_ub_o] != |
| 16907 | cartesian_trajectory_planner_B.b_nj[cartesian_trajectory_planner_B.loop_ub_o]) |
| 16908 | { |
| 16909 | exitg1 = 1; |
| 16910 | } else { |
| 16911 | cartesian_trajectory_planner_B.b_kstr_m++; |
| 16912 | } |
| 16913 | } else { |
| 16914 | cartesian_trajectory_planner_B.b_bool_pn = true; |
| 16915 | exitg1 = 1; |
| 16916 | } |
| 16917 | } while (exitg1 == 0); |
| 16918 | } |
| 16919 | |
| 16920 | if (cartesian_trajectory_planner_B.b_bool_pn) { |
| 16921 | cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16922 | } else { |
| 16923 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16924 | cartesian_trajectory_planner_B.b_kstr_m < 9; |
| 16925 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16926 | cartesian_trajectory_planner_B.b_g[cartesian_trajectory_planner_B.b_kstr_m] |
| 16927 | = tmp_4[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16928 | } |
| 16929 | |
| 16930 | cartesian_trajectory_planner_B.b_bool_pn = false; |
| 16931 | if (switch_expression->size[1] == 9) { |
| 16932 | cartesian_trajectory_planner_B.b_kstr_m = 1; |
| 16933 | do { |
| 16934 | exitg1 = 0; |
| 16935 | if (cartesian_trajectory_planner_B.b_kstr_m - 1 < 9) { |
| 16936 | cartesian_trajectory_planner_B.loop_ub_o = |
| 16937 | cartesian_trajectory_planner_B.b_kstr_m - 1; |
| 16938 | if (switch_expression->data[cartesian_trajectory_planner_B.loop_ub_o] |
| 16939 | != |
| 16940 | cartesian_trajectory_planner_B.b_g[cartesian_trajectory_planner_B.loop_ub_o]) |
| 16941 | { |
| 16942 | exitg1 = 1; |
| 16943 | } else { |
| 16944 | cartesian_trajectory_planner_B.b_kstr_m++; |
| 16945 | } |
| 16946 | } else { |
| 16947 | cartesian_trajectory_planner_B.b_bool_pn = true; |
| 16948 | exitg1 = 1; |
| 16949 | } |
| 16950 | } while (exitg1 == 0); |
| 16951 | } |
| 16952 | |
| 16953 | if (cartesian_trajectory_planner_B.b_bool_pn) { |
| 16954 | cartesian_trajectory_planner_B.b_kstr_m = 1; |
| 16955 | } else { |
| 16956 | cartesian_trajectory_planner_B.b_kstr_m = -1; |
| 16957 | } |
| 16958 | } |
| 16959 | |
| 16960 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 16961 | switch (cartesian_trajectory_planner_B.b_kstr_m) { |
| 16962 | case 0: |
| 16963 | cartesian_trajectory_planner_B.iv1[0] = 0; |
| 16964 | cartesian_trajectory_planner_B.iv1[1] = 0; |
| 16965 | cartesian_trajectory_planner_B.iv1[2] = 1; |
| 16966 | cartesian_trajectory_planner_B.iv1[3] = 0; |
| 16967 | cartesian_trajectory_planner_B.iv1[4] = 0; |
| 16968 | cartesian_trajectory_planner_B.iv1[5] = 0; |
| 16969 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16970 | cartesian_trajectory_planner_B.b_kstr_m < 6; |
| 16971 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16972 | cartesian_trajectory_planner_B.msubspace_data_i[cartesian_trajectory_planner_B.b_kstr_m] |
| 16973 | = |
| 16974 | cartesian_trajectory_planner_B.iv1[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16975 | } |
| 16976 | |
| 16977 | cartesian_trajectory_planner_B.poslim_data_a[0] = -3.1415926535897931; |
| 16978 | cartesian_trajectory_planner_B.poslim_data_a[1] = 3.1415926535897931; |
| 16979 | iobj_13->VelocityNumber = 1.0; |
| 16980 | iobj_13->PositionNumber = 1.0; |
| 16981 | iobj_13->JointAxisInternal[0] = 0.0; |
| 16982 | iobj_13->JointAxisInternal[1] = 0.0; |
| 16983 | iobj_13->JointAxisInternal[2] = 1.0; |
| 16984 | break; |
| 16985 | |
| 16986 | case 1: |
| 16987 | cartesian_trajectory_planner_B.iv1[0] = 0; |
| 16988 | cartesian_trajectory_planner_B.iv1[1] = 0; |
| 16989 | cartesian_trajectory_planner_B.iv1[2] = 0; |
| 16990 | cartesian_trajectory_planner_B.iv1[3] = 0; |
| 16991 | cartesian_trajectory_planner_B.iv1[4] = 0; |
| 16992 | cartesian_trajectory_planner_B.iv1[5] = 1; |
| 16993 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 16994 | cartesian_trajectory_planner_B.b_kstr_m < 6; |
| 16995 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 16996 | cartesian_trajectory_planner_B.msubspace_data_i[cartesian_trajectory_planner_B.b_kstr_m] |
| 16997 | = |
| 16998 | cartesian_trajectory_planner_B.iv1[cartesian_trajectory_planner_B.b_kstr_m]; |
| 16999 | } |
| 17000 | |
| 17001 | cartesian_trajectory_planner_B.poslim_data_a[0] = -0.5; |
| 17002 | cartesian_trajectory_planner_B.poslim_data_a[1] = 0.5; |
| 17003 | iobj_13->VelocityNumber = 1.0; |
| 17004 | iobj_13->PositionNumber = 1.0; |
| 17005 | iobj_13->JointAxisInternal[0] = 0.0; |
| 17006 | iobj_13->JointAxisInternal[1] = 0.0; |
| 17007 | iobj_13->JointAxisInternal[2] = 1.0; |
| 17008 | break; |
| 17009 | |
| 17010 | default: |
| 17011 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 17012 | cartesian_trajectory_planner_B.b_kstr_m < 6; |
| 17013 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 17014 | cartesian_trajectory_planner_B.msubspace_data_i[cartesian_trajectory_planner_B.b_kstr_m] |
| 17015 | = 0; |
| 17016 | } |
| 17017 | |
| 17018 | cartesian_trajectory_planner_B.poslim_data_a[0] = 0.0; |
| 17019 | cartesian_trajectory_planner_B.poslim_data_a[1] = 0.0; |
| 17020 | iobj_13->VelocityNumber = 0.0; |
| 17021 | iobj_13->PositionNumber = 0.0; |
| 17022 | iobj_13->JointAxisInternal[0] = 0.0; |
| 17023 | iobj_13->JointAxisInternal[1] = 0.0; |
| 17024 | iobj_13->JointAxisInternal[2] = 0.0; |
| 17025 | break; |
| 17026 | } |
| 17027 | |
| 17028 | cartesian_trajectory_planner_B.b_kstr_m = iobj_13->MotionSubspace->size[0] * |
| 17029 | iobj_13->MotionSubspace->size[1]; |
| 17030 | iobj_13->MotionSubspace->size[0] = 6; |
| 17031 | iobj_13->MotionSubspace->size[1] = 1; |
| 17032 | cartes_emxEnsureCapacity_real_T(iobj_13->MotionSubspace, |
| 17033 | cartesian_trajectory_planner_B.b_kstr_m); |
| 17034 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 17035 | cartesian_trajectory_planner_B.b_kstr_m < 6; |
| 17036 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 17037 | iobj_13->MotionSubspace->data[cartesian_trajectory_planner_B.b_kstr_m] = |
| 17038 | cartesian_trajectory_planner_B.msubspace_data_i[cartesian_trajectory_planner_B.b_kstr_m]; |
| 17039 | } |
| 17040 | |
| 17041 | cartesian_trajectory_planner_B.b_kstr_m = iobj_13-> |
| 17042 | PositionLimitsInternal->size[0] * iobj_13->PositionLimitsInternal->size[1]; |
| 17043 | iobj_13->PositionLimitsInternal->size[0] = 1; |
| 17044 | iobj_13->PositionLimitsInternal->size[1] = 2; |
| 17045 | cartes_emxEnsureCapacity_real_T(iobj_13->PositionLimitsInternal, |
| 17046 | cartesian_trajectory_planner_B.b_kstr_m); |
| 17047 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 17048 | cartesian_trajectory_planner_B.b_kstr_m < 2; |
| 17049 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 17050 | iobj_13->PositionLimitsInternal-> |
| 17051 | data[cartesian_trajectory_planner_B.b_kstr_m] = |
| 17052 | cartesian_trajectory_planner_B.poslim_data_a[cartesian_trajectory_planner_B.b_kstr_m]; |
| 17053 | } |
| 17054 | |
| 17055 | cartesian_trajectory_planner_B.b_kstr_m = iobj_13->HomePositionInternal->size |
| 17056 | [0]; |
| 17057 | iobj_13->HomePositionInternal->size[0] = 1; |
| 17058 | cartes_emxEnsureCapacity_real_T(iobj_13->HomePositionInternal, |
| 17059 | cartesian_trajectory_planner_B.b_kstr_m); |
| 17060 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 17061 | cartesian_trajectory_planner_B.b_kstr_m < 1; |
| 17062 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 17063 | iobj_13->HomePositionInternal->data[0] = 0.0; |
| 17064 | } |
| 17065 | |
| 17066 | iobj_6->JointInternal = iobj_13; |
| 17067 | iobj_6->Index = -1.0; |
| 17068 | iobj_6->ParentIndex = -1.0; |
| 17069 | obj->Bodies[7] = iobj_6; |
| 17070 | obj->NumBodies = 0.0; |
| 17071 | obj->NumNonFixedBodies = 0.0; |
| 17072 | obj->PositionNumber = 0.0; |
| 17073 | obj->VelocityNumber = 0.0; |
| 17074 | cartesian_trajectory_plann_rand(cartesian_trajectory_planner_B.unusedExpr_k); |
| 17075 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 17076 | cartesian_trajectory_planner_B.b_kstr_m < 8; |
| 17077 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 17078 | obj->PositionDoFMap[cartesian_trajectory_planner_B.b_kstr_m] = 0.0; |
| 17079 | } |
| 17080 | |
| 17081 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 17082 | cartesian_trajectory_planner_B.b_kstr_m < 8; |
| 17083 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 17084 | obj->PositionDoFMap[cartesian_trajectory_planner_B.b_kstr_m + 8] = -1.0; |
| 17085 | } |
| 17086 | |
| 17087 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 17088 | cartesian_trajectory_planner_B.b_kstr_m < 8; |
| 17089 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 17090 | obj->VelocityDoFMap[cartesian_trajectory_planner_B.b_kstr_m] = 0.0; |
| 17091 | } |
| 17092 | |
| 17093 | for (cartesian_trajectory_planner_B.b_kstr_m = 0; |
| 17094 | cartesian_trajectory_planner_B.b_kstr_m < 8; |
| 17095 | cartesian_trajectory_planner_B.b_kstr_m++) { |
| 17096 | obj->VelocityDoFMap[cartesian_trajectory_planner_B.b_kstr_m + 8] = -1.0; |
| 17097 | } |
| 17098 | } |
| 17099 | |
| 17100 | static x_robotics_manip_internal_Rig_T *RigidBodyTree_RigidBodyTree_as |
| 17101 | (x_robotics_manip_internal_Rig_T *obj, w_robotics_manip_internal_Rig_T *iobj_0, |
| 17102 | w_robotics_manip_internal_Rig_T *iobj_1, w_robotics_manip_internal_Rig_T |
| 17103 | *iobj_2, w_robotics_manip_internal_Rig_T *iobj_3, |
| 17104 | w_robotics_manip_internal_Rig_T *iobj_4, w_robotics_manip_internal_Rig_T |
| 17105 | *iobj_5, w_robotics_manip_internal_Rig_T *iobj_6, |
| 17106 | c_rigidBodyJoint_cartesian__a_T *iobj_7, c_rigidBodyJoint_cartesian__a_T |
| 17107 | *iobj_8, c_rigidBodyJoint_cartesian__a_T *iobj_9, |
| 17108 | c_rigidBodyJoint_cartesian__a_T *iobj_10, c_rigidBodyJoint_cartesian__a_T |
| 17109 | *iobj_11, c_rigidBodyJoint_cartesian__a_T *iobj_12, |
| 17110 | c_rigidBodyJoint_cartesian__a_T *iobj_13, c_rigidBodyJoint_cartesian__a_T |
| 17111 | *iobj_14, c_rigidBodyJoint_cartesian__a_T *iobj_15, |
| 17112 | w_robotics_manip_internal_Rig_T *iobj_16) |
| 17113 | { |
| 17114 | x_robotics_manip_internal_Rig_T *b_obj; |
| 17115 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 17116 | static const int8_T tmp[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1 |
| 17117 | }; |
| 17118 | |
| 17119 | static const char_T tmp_0[8] = { 'b', 'a', 's', 'e', '_', 'j', 'n', 't' }; |
| 17120 | |
| 17121 | static const char_T tmp_1[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 17122 | |
| 17123 | static const char_T tmp_2[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 17124 | |
| 17125 | static const char_T tmp_3[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 17126 | |
| 17127 | int32_T exitg1; |
| 17128 | b_obj = obj; |
| 17129 | cartesian_trajectory_planner_B.b_kstr_c = obj->Base.NameInternal->size[0] * |
| 17130 | obj->Base.NameInternal->size[1]; |
| 17131 | obj->Base.NameInternal->size[0] = 1; |
| 17132 | obj->Base.NameInternal->size[1] = 4; |
| 17133 | cartes_emxEnsureCapacity_char_T(obj->Base.NameInternal, |
| 17134 | cartesian_trajectory_planner_B.b_kstr_c); |
| 17135 | obj->Base.NameInternal->data[0] = 'b'; |
| 17136 | obj->Base.NameInternal->data[1] = 'a'; |
| 17137 | obj->Base.NameInternal->data[2] = 's'; |
| 17138 | obj->Base.NameInternal->data[3] = 'e'; |
| 17139 | iobj_15->InTree = false; |
| 17140 | for (cartesian_trajectory_planner_B.b_kstr_c = 0; |
| 17141 | cartesian_trajectory_planner_B.b_kstr_c < 16; |
| 17142 | cartesian_trajectory_planner_B.b_kstr_c++) { |
| 17143 | iobj_15->JointToParentTransform[cartesian_trajectory_planner_B.b_kstr_c] = |
| 17144 | tmp[cartesian_trajectory_planner_B.b_kstr_c]; |
| 17145 | } |
| 17146 | |
| 17147 | for (cartesian_trajectory_planner_B.b_kstr_c = 0; |
| 17148 | cartesian_trajectory_planner_B.b_kstr_c < 16; |
| 17149 | cartesian_trajectory_planner_B.b_kstr_c++) { |
| 17150 | iobj_15->ChildToJointTransform[cartesian_trajectory_planner_B.b_kstr_c] = |
| 17151 | tmp[cartesian_trajectory_planner_B.b_kstr_c]; |
| 17152 | } |
| 17153 | |
| 17154 | cartesian_trajectory_planner_B.b_kstr_c = iobj_15->NameInternal->size[0] * |
| 17155 | iobj_15->NameInternal->size[1]; |
| 17156 | iobj_15->NameInternal->size[0] = 1; |
| 17157 | iobj_15->NameInternal->size[1] = 8; |
| 17158 | cartes_emxEnsureCapacity_char_T(iobj_15->NameInternal, |
| 17159 | cartesian_trajectory_planner_B.b_kstr_c); |
| 17160 | for (cartesian_trajectory_planner_B.b_kstr_c = 0; |
| 17161 | cartesian_trajectory_planner_B.b_kstr_c < 8; |
| 17162 | cartesian_trajectory_planner_B.b_kstr_c++) { |
| 17163 | iobj_15->NameInternal->data[cartesian_trajectory_planner_B.b_kstr_c] = |
| 17164 | tmp_0[cartesian_trajectory_planner_B.b_kstr_c]; |
| 17165 | } |
| 17166 | |
| 17167 | cartesian_trajectory_planner_B.b_kstr_c = iobj_15->Type->size[0] * |
| 17168 | iobj_15->Type->size[1]; |
| 17169 | iobj_15->Type->size[0] = 1; |
| 17170 | iobj_15->Type->size[1] = 5; |
| 17171 | cartes_emxEnsureCapacity_char_T(iobj_15->Type, |
| 17172 | cartesian_trajectory_planner_B.b_kstr_c); |
| 17173 | for (cartesian_trajectory_planner_B.b_kstr_c = 0; |
| 17174 | cartesian_trajectory_planner_B.b_kstr_c < 5; |
| 17175 | cartesian_trajectory_planner_B.b_kstr_c++) { |
| 17176 | iobj_15->Type->data[cartesian_trajectory_planner_B.b_kstr_c] = |
| 17177 | tmp_1[cartesian_trajectory_planner_B.b_kstr_c]; |
| 17178 | } |
| 17179 | |
| 17180 | cartesian_trajec_emxInit_char_T(&switch_expression, 2); |
| 17181 | cartesian_trajectory_planner_B.b_kstr_c = switch_expression->size[0] * |
| 17182 | switch_expression->size[1]; |
| 17183 | switch_expression->size[0] = 1; |
| 17184 | switch_expression->size[1] = iobj_15->Type->size[1]; |
| 17185 | cartes_emxEnsureCapacity_char_T(switch_expression, |
| 17186 | cartesian_trajectory_planner_B.b_kstr_c); |
| 17187 | cartesian_trajectory_planner_B.loop_ub_e = iobj_15->Type->size[0] * |
| 17188 | iobj_15->Type->size[1] - 1; |
| 17189 | for (cartesian_trajectory_planner_B.b_kstr_c = 0; |
| 17190 | cartesian_trajectory_planner_B.b_kstr_c <= |
| 17191 | cartesian_trajectory_planner_B.loop_ub_e; |
| 17192 | cartesian_trajectory_planner_B.b_kstr_c++) { |
| 17193 | switch_expression->data[cartesian_trajectory_planner_B.b_kstr_c] = |
| 17194 | iobj_15->Type->data[cartesian_trajectory_planner_B.b_kstr_c]; |
| 17195 | } |
| 17196 | |
| 17197 | for (cartesian_trajectory_planner_B.b_kstr_c = 0; |
| 17198 | cartesian_trajectory_planner_B.b_kstr_c < 8; |
| 17199 | cartesian_trajectory_planner_B.b_kstr_c++) { |
| 17200 | cartesian_trajectory_planner_B.b_p2[cartesian_trajectory_planner_B.b_kstr_c] |
| 17201 | = tmp_2[cartesian_trajectory_planner_B.b_kstr_c]; |
| 17202 | } |
| 17203 | |
| 17204 | cartesian_trajectory_planner_B.b_bool_b = false; |
| 17205 | if (switch_expression->size[1] == 8) { |
| 17206 | cartesian_trajectory_planner_B.b_kstr_c = 1; |
| 17207 | do { |
| 17208 | exitg1 = 0; |
| 17209 | if (cartesian_trajectory_planner_B.b_kstr_c - 1 < 8) { |
| 17210 | cartesian_trajectory_planner_B.loop_ub_e = |
| 17211 | cartesian_trajectory_planner_B.b_kstr_c - 1; |
| 17212 | if (switch_expression->data[cartesian_trajectory_planner_B.loop_ub_e] != |
| 17213 | cartesian_trajectory_planner_B.b_p2[cartesian_trajectory_planner_B.loop_ub_e]) |
| 17214 | { |
| 17215 | exitg1 = 1; |
| 17216 | } else { |
| 17217 | cartesian_trajectory_planner_B.b_kstr_c++; |
| 17218 | } |
| 17219 | } else { |
| 17220 | cartesian_trajectory_planner_B.b_bool_b = true; |
| 17221 | exitg1 = 1; |
| 17222 | } |
| 17223 | } while (exitg1 == 0); |
| 17224 | } |
| 17225 | |
| 17226 | if (cartesian_trajectory_planner_B.b_bool_b) { |
| 17227 | cartesian_trajectory_planner_B.b_kstr_c = 0; |
| 17228 | } else { |
| 17229 | for (cartesian_trajectory_planner_B.b_kstr_c = 0; |
| 17230 | cartesian_trajectory_planner_B.b_kstr_c < 9; |
| 17231 | cartesian_trajectory_planner_B.b_kstr_c++) { |
| 17232 | cartesian_trajectory_planner_B.b_a[cartesian_trajectory_planner_B.b_kstr_c] |
| 17233 | = tmp_3[cartesian_trajectory_planner_B.b_kstr_c]; |
| 17234 | } |
| 17235 | |
| 17236 | cartesian_trajectory_planner_B.b_bool_b = false; |
| 17237 | if (switch_expression->size[1] == 9) { |
| 17238 | cartesian_trajectory_planner_B.b_kstr_c = 1; |
| 17239 | do { |
| 17240 | exitg1 = 0; |
| 17241 | if (cartesian_trajectory_planner_B.b_kstr_c - 1 < 9) { |
| 17242 | cartesian_trajectory_planner_B.loop_ub_e = |
| 17243 | cartesian_trajectory_planner_B.b_kstr_c - 1; |
| 17244 | if (switch_expression->data[cartesian_trajectory_planner_B.loop_ub_e] |
| 17245 | != |
| 17246 | cartesian_trajectory_planner_B.b_a[cartesian_trajectory_planner_B.loop_ub_e]) |
| 17247 | { |
| 17248 | exitg1 = 1; |
| 17249 | } else { |
| 17250 | cartesian_trajectory_planner_B.b_kstr_c++; |
| 17251 | } |
| 17252 | } else { |
| 17253 | cartesian_trajectory_planner_B.b_bool_b = true; |
| 17254 | exitg1 = 1; |
| 17255 | } |
| 17256 | } while (exitg1 == 0); |
| 17257 | } |
| 17258 | |
| 17259 | if (cartesian_trajectory_planner_B.b_bool_b) { |
| 17260 | cartesian_trajectory_planner_B.b_kstr_c = 1; |
| 17261 | } else { |
| 17262 | cartesian_trajectory_planner_B.b_kstr_c = -1; |
| 17263 | } |
| 17264 | } |
| 17265 | |
| 17266 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 17267 | switch (cartesian_trajectory_planner_B.b_kstr_c) { |
| 17268 | case 0: |
| 17269 | cartesian_trajectory_planner_B.iv[0] = 0; |
| 17270 | cartesian_trajectory_planner_B.iv[1] = 0; |
| 17271 | cartesian_trajectory_planner_B.iv[2] = 1; |
| 17272 | cartesian_trajectory_planner_B.iv[3] = 0; |
| 17273 | cartesian_trajectory_planner_B.iv[4] = 0; |
| 17274 | cartesian_trajectory_planner_B.iv[5] = 0; |
| 17275 | for (cartesian_trajectory_planner_B.b_kstr_c = 0; |
| 17276 | cartesian_trajectory_planner_B.b_kstr_c < 6; |
| 17277 | cartesian_trajectory_planner_B.b_kstr_c++) { |
| 17278 | cartesian_trajectory_planner_B.msubspace_data[cartesian_trajectory_planner_B.b_kstr_c] |
| 17279 | = |
| 17280 | cartesian_trajectory_planner_B.iv[cartesian_trajectory_planner_B.b_kstr_c]; |
| 17281 | } |
| 17282 | |
| 17283 | cartesian_trajectory_planner_B.poslim_data[0] = -3.1415926535897931; |
| 17284 | cartesian_trajectory_planner_B.poslim_data[1] = 3.1415926535897931; |
| 17285 | iobj_15->VelocityNumber = 1.0; |
| 17286 | iobj_15->PositionNumber = 1.0; |
| 17287 | iobj_15->JointAxisInternal[0] = 0.0; |
| 17288 | iobj_15->JointAxisInternal[1] = 0.0; |
| 17289 | iobj_15->JointAxisInternal[2] = 1.0; |
| 17290 | break; |
| 17291 | |
| 17292 | case 1: |
| 17293 | cartesian_trajectory_planner_B.iv[0] = 0; |
| 17294 | cartesian_trajectory_planner_B.iv[1] = 0; |
| 17295 | cartesian_trajectory_planner_B.iv[2] = 0; |
| 17296 | cartesian_trajectory_planner_B.iv[3] = 0; |
| 17297 | cartesian_trajectory_planner_B.iv[4] = 0; |
| 17298 | cartesian_trajectory_planner_B.iv[5] = 1; |
| 17299 | for (cartesian_trajectory_planner_B.b_kstr_c = 0; |
| 17300 | cartesian_trajectory_planner_B.b_kstr_c < 6; |
| 17301 | cartesian_trajectory_planner_B.b_kstr_c++) { |
| 17302 | cartesian_trajectory_planner_B.msubspace_data[cartesian_trajectory_planner_B.b_kstr_c] |
| 17303 | = |
| 17304 | cartesian_trajectory_planner_B.iv[cartesian_trajectory_planner_B.b_kstr_c]; |
| 17305 | } |
| 17306 | |
| 17307 | cartesian_trajectory_planner_B.poslim_data[0] = -0.5; |
| 17308 | cartesian_trajectory_planner_B.poslim_data[1] = 0.5; |
| 17309 | iobj_15->VelocityNumber = 1.0; |
| 17310 | iobj_15->PositionNumber = 1.0; |
| 17311 | iobj_15->JointAxisInternal[0] = 0.0; |
| 17312 | iobj_15->JointAxisInternal[1] = 0.0; |
| 17313 | iobj_15->JointAxisInternal[2] = 1.0; |
| 17314 | break; |
| 17315 | |
| 17316 | default: |
| 17317 | for (cartesian_trajectory_planner_B.b_kstr_c = 0; |
| 17318 | cartesian_trajectory_planner_B.b_kstr_c < 6; |
| 17319 | cartesian_trajectory_planner_B.b_kstr_c++) { |
| 17320 | cartesian_trajectory_planner_B.msubspace_data[cartesian_trajectory_planner_B.b_kstr_c] |
| 17321 | = 0; |
| 17322 | } |
| 17323 | |
| 17324 | cartesian_trajectory_planner_B.poslim_data[0] = 0.0; |
| 17325 | cartesian_trajectory_planner_B.poslim_data[1] = 0.0; |
| 17326 | iobj_15->VelocityNumber = 0.0; |
| 17327 | iobj_15->PositionNumber = 0.0; |
| 17328 | iobj_15->JointAxisInternal[0] = 0.0; |
| 17329 | iobj_15->JointAxisInternal[1] = 0.0; |
| 17330 | iobj_15->JointAxisInternal[2] = 0.0; |
| 17331 | break; |
| 17332 | } |
| 17333 | |
| 17334 | cartesian_trajectory_planner_B.b_kstr_c = iobj_15->MotionSubspace->size[0] * |
| 17335 | iobj_15->MotionSubspace->size[1]; |
| 17336 | iobj_15->MotionSubspace->size[0] = 6; |
| 17337 | iobj_15->MotionSubspace->size[1] = 1; |
| 17338 | cartes_emxEnsureCapacity_real_T(iobj_15->MotionSubspace, |
| 17339 | cartesian_trajectory_planner_B.b_kstr_c); |
| 17340 | for (cartesian_trajectory_planner_B.b_kstr_c = 0; |
| 17341 | cartesian_trajectory_planner_B.b_kstr_c < 6; |
| 17342 | cartesian_trajectory_planner_B.b_kstr_c++) { |
| 17343 | iobj_15->MotionSubspace->data[cartesian_trajectory_planner_B.b_kstr_c] = |
| 17344 | cartesian_trajectory_planner_B.msubspace_data[cartesian_trajectory_planner_B.b_kstr_c]; |
| 17345 | } |
| 17346 | |
| 17347 | cartesian_trajectory_planner_B.b_kstr_c = iobj_15-> |
| 17348 | PositionLimitsInternal->size[0] * iobj_15->PositionLimitsInternal->size[1]; |
| 17349 | iobj_15->PositionLimitsInternal->size[0] = 1; |
| 17350 | iobj_15->PositionLimitsInternal->size[1] = 2; |
| 17351 | cartes_emxEnsureCapacity_real_T(iobj_15->PositionLimitsInternal, |
| 17352 | cartesian_trajectory_planner_B.b_kstr_c); |
| 17353 | for (cartesian_trajectory_planner_B.b_kstr_c = 0; |
| 17354 | cartesian_trajectory_planner_B.b_kstr_c < 2; |
| 17355 | cartesian_trajectory_planner_B.b_kstr_c++) { |
| 17356 | iobj_15->PositionLimitsInternal-> |
| 17357 | data[cartesian_trajectory_planner_B.b_kstr_c] = |
| 17358 | cartesian_trajectory_planner_B.poslim_data[cartesian_trajectory_planner_B.b_kstr_c]; |
| 17359 | } |
| 17360 | |
| 17361 | cartesian_trajectory_planner_B.b_kstr_c = iobj_15->HomePositionInternal->size |
| 17362 | [0]; |
| 17363 | iobj_15->HomePositionInternal->size[0] = 1; |
| 17364 | cartes_emxEnsureCapacity_real_T(iobj_15->HomePositionInternal, |
| 17365 | cartesian_trajectory_planner_B.b_kstr_c); |
| 17366 | for (cartesian_trajectory_planner_B.b_kstr_c = 0; |
| 17367 | cartesian_trajectory_planner_B.b_kstr_c < 1; |
| 17368 | cartesian_trajectory_planner_B.b_kstr_c++) { |
| 17369 | iobj_15->HomePositionInternal->data[0] = 0.0; |
| 17370 | } |
| 17371 | |
| 17372 | obj->Base.JointInternal = iobj_15; |
| 17373 | obj->Base.Index = -1.0; |
| 17374 | obj->Base.ParentIndex = -1.0; |
| 17375 | obj->Base.Index = 0.0; |
| 17376 | cartesian_trajectory_plann_rand(cartesian_trajectory_planner_B.unusedExpr); |
| 17377 | ca_RigidBodyTree_clearAllBodies(obj, iobj_0, iobj_1, iobj_2, iobj_3, iobj_4, |
| 17378 | iobj_5, iobj_6, iobj_8, iobj_9, iobj_10, iobj_11, iobj_12, iobj_13, iobj_14, |
| 17379 | iobj_7, iobj_16); |
| 17380 | return b_obj; |
| 17381 | } |
| 17382 | |
| 17383 | static c_rigidBodyJoint_cartesian__a_T *c_rigidBodyJoint_rigidBodyJoint |
| 17384 | (c_rigidBodyJoint_cartesian__a_T *obj, const emxArray_char_T_cartesian_tra_T |
| 17385 | *jname, const emxArray_char_T_cartesian_tra_T *jtype) |
| 17386 | { |
| 17387 | c_rigidBodyJoint_cartesian__a_T *b_obj; |
| 17388 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 17389 | static const int8_T tmp[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1 |
| 17390 | }; |
| 17391 | |
| 17392 | static const char_T tmp_0[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 17393 | |
| 17394 | static const char_T tmp_1[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 17395 | |
| 17396 | static const char_T tmp_2[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 17397 | |
| 17398 | static const char_T tmp_3[128] = { '\x00', '\x01', '\x02', '\x03', '\x04', |
| 17399 | '\x05', '\x06', '\x07', '\x08', '\x09', '\x0a', '\x0b', '\x0c', '\x0d', |
| 17400 | '\x0e', '\x0f', '\x10', '\x11', '\x12', '\x13', '\x14', '\x15', '\x16', |
| 17401 | '\x17', '\x18', '\x19', '\x1a', '\x1b', '\x1c', '\x1d', '\x1e', '\x1f', ' ', |
| 17402 | '!', '\"', '#', '$', '%', '&', '\'', '(', ')', '*', '+', ',', '-', '.', '/', |
| 17403 | '0', '1', '2', '3', '4', '5', '6', '7', '8', '9', ':', ';', '<', '=', '>', |
| 17404 | '?', '@', 'a', 'b', 'c', 'd', 'e', 'f', 'g', 'h', 'i', 'j', 'k', 'l', 'm', |
| 17405 | 'n', 'o', 'p', 'q', 'r', 's', 't', 'u', 'v', 'w', 'x', 'y', 'z', '[', '\\', |
| 17406 | ']', '^', '_', '`', 'a', 'b', 'c', 'd', 'e', 'f', 'g', 'h', 'i', 'j', 'k', |
| 17407 | 'l', 'm', 'n', 'o', 'p', 'q', 'r', 's', 't', 'u', 'v', 'w', 'x', 'y', 'z', |
| 17408 | '{', '|', '}', '~', '\x7f' }; |
| 17409 | |
| 17410 | boolean_T guard1 = false; |
| 17411 | boolean_T guard2 = false; |
| 17412 | boolean_T guard3 = false; |
| 17413 | boolean_T guard4 = false; |
| 17414 | int32_T exitg1; |
| 17415 | boolean_T guard11 = false; |
| 17416 | obj->InTree = false; |
| 17417 | for (cartesian_trajectory_planner_B.minnanb = 0; |
| 17418 | cartesian_trajectory_planner_B.minnanb < 16; |
| 17419 | cartesian_trajectory_planner_B.minnanb++) { |
| 17420 | obj->JointToParentTransform[cartesian_trajectory_planner_B.minnanb] = |
| 17421 | tmp[cartesian_trajectory_planner_B.minnanb]; |
| 17422 | } |
| 17423 | |
| 17424 | for (cartesian_trajectory_planner_B.minnanb = 0; |
| 17425 | cartesian_trajectory_planner_B.minnanb < 16; |
| 17426 | cartesian_trajectory_planner_B.minnanb++) { |
| 17427 | obj->ChildToJointTransform[cartesian_trajectory_planner_B.minnanb] = |
| 17428 | tmp[cartesian_trajectory_planner_B.minnanb]; |
| 17429 | } |
| 17430 | |
| 17431 | b_obj = obj; |
| 17432 | cartesian_trajectory_planner_B.minnanb = obj->NameInternal->size[0] * |
| 17433 | obj->NameInternal->size[1]; |
| 17434 | obj->NameInternal->size[0] = 1; |
| 17435 | obj->NameInternal->size[1] = jname->size[1]; |
| 17436 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, |
| 17437 | cartesian_trajectory_planner_B.minnanb); |
| 17438 | cartesian_trajectory_planner_B.loop_ub_g0 = jname->size[0] * jname->size[1] - |
| 17439 | 1; |
| 17440 | for (cartesian_trajectory_planner_B.minnanb = 0; |
| 17441 | cartesian_trajectory_planner_B.minnanb <= |
| 17442 | cartesian_trajectory_planner_B.loop_ub_g0; |
| 17443 | cartesian_trajectory_planner_B.minnanb++) { |
| 17444 | obj->NameInternal->data[cartesian_trajectory_planner_B.minnanb] = |
| 17445 | jname->data[cartesian_trajectory_planner_B.minnanb]; |
| 17446 | } |
| 17447 | |
| 17448 | cartesian_trajectory_planner_B.partial_match_size_idx_1 = 0; |
| 17449 | for (cartesian_trajectory_planner_B.minnanb = 0; |
| 17450 | cartesian_trajectory_planner_B.minnanb < 8; |
| 17451 | cartesian_trajectory_planner_B.minnanb++) { |
| 17452 | cartesian_trajectory_planner_B.vstr[cartesian_trajectory_planner_B.minnanb] = |
| 17453 | tmp_0[cartesian_trajectory_planner_B.minnanb]; |
| 17454 | } |
| 17455 | |
| 17456 | guard1 = false; |
| 17457 | guard2 = false; |
| 17458 | guard3 = false; |
| 17459 | guard4 = false; |
| 17460 | if (jtype->size[1] <= 8) { |
| 17461 | cartesian_trajectory_planner_B.loop_ub_g0 = jtype->size[1]; |
| 17462 | for (cartesian_trajectory_planner_B.minnanb = 0; |
| 17463 | cartesian_trajectory_planner_B.minnanb < 8; |
| 17464 | cartesian_trajectory_planner_B.minnanb++) { |
| 17465 | cartesian_trajectory_planner_B.b_cq[cartesian_trajectory_planner_B.minnanb] |
| 17466 | = tmp_0[cartesian_trajectory_planner_B.minnanb]; |
| 17467 | } |
| 17468 | |
| 17469 | cartesian_trajectory_planner_B.b_bool_cg = false; |
| 17470 | cartesian_trajectory_planner_B.minnanb = jtype->size[1]; |
| 17471 | if (cartesian_trajectory_planner_B.minnanb >= 8) { |
| 17472 | cartesian_trajectory_planner_B.minnanb = 8; |
| 17473 | } |
| 17474 | |
| 17475 | guard11 = false; |
| 17476 | if (cartesian_trajectory_planner_B.loop_ub_g0 <= |
| 17477 | cartesian_trajectory_planner_B.minnanb) { |
| 17478 | if (cartesian_trajectory_planner_B.minnanb < |
| 17479 | cartesian_trajectory_planner_B.loop_ub_g0) { |
| 17480 | cartesian_trajectory_planner_B.loop_ub_g0 = |
| 17481 | cartesian_trajectory_planner_B.minnanb; |
| 17482 | } |
| 17483 | |
| 17484 | cartesian_trajectory_planner_B.minnanb = |
| 17485 | cartesian_trajectory_planner_B.loop_ub_g0 - 1; |
| 17486 | guard11 = true; |
| 17487 | } else { |
| 17488 | if (jtype->size[1] == 8) { |
| 17489 | cartesian_trajectory_planner_B.minnanb = 7; |
| 17490 | guard11 = true; |
| 17491 | } |
| 17492 | } |
| 17493 | |
| 17494 | if (guard11) { |
| 17495 | cartesian_trajectory_planner_B.loop_ub_g0 = 1; |
| 17496 | do { |
| 17497 | exitg1 = 0; |
| 17498 | if (cartesian_trajectory_planner_B.loop_ub_g0 - 1 <= |
| 17499 | cartesian_trajectory_planner_B.minnanb) { |
| 17500 | cartesian_trajectory_planner_B.kstr_c = |
| 17501 | cartesian_trajectory_planner_B.loop_ub_g0 - 1; |
| 17502 | if (tmp_3[static_cast<uint8_T>(jtype-> |
| 17503 | data[cartesian_trajectory_planner_B.kstr_c]) & 127] != tmp_3[ |
| 17504 | static_cast<int32_T> |
| 17505 | (cartesian_trajectory_planner_B.b_cq[cartesian_trajectory_planner_B.kstr_c])]) |
| 17506 | { |
| 17507 | exitg1 = 1; |
| 17508 | } else { |
| 17509 | cartesian_trajectory_planner_B.loop_ub_g0++; |
| 17510 | } |
| 17511 | } else { |
| 17512 | cartesian_trajectory_planner_B.b_bool_cg = true; |
| 17513 | exitg1 = 1; |
| 17514 | } |
| 17515 | } while (exitg1 == 0); |
| 17516 | } |
| 17517 | |
| 17518 | if (cartesian_trajectory_planner_B.b_bool_cg) { |
| 17519 | if (jtype->size[1] == 8) { |
| 17520 | cartesian_trajectory_planner_B.nmatched = 1; |
| 17521 | cartesian_trajectory_planner_B.partial_match_size_idx_1 = 8; |
| 17522 | for (cartesian_trajectory_planner_B.minnanb = 0; |
| 17523 | cartesian_trajectory_planner_B.minnanb < 8; |
| 17524 | cartesian_trajectory_planner_B.minnanb++) { |
| 17525 | cartesian_trajectory_planner_B.b_na[cartesian_trajectory_planner_B.minnanb] |
| 17526 | = |
| 17527 | cartesian_trajectory_planner_B.vstr[cartesian_trajectory_planner_B.minnanb]; |
| 17528 | } |
| 17529 | } else { |
| 17530 | cartesian_trajectory_planner_B.partial_match_size_idx_1 = 8; |
| 17531 | for (cartesian_trajectory_planner_B.minnanb = 0; |
| 17532 | cartesian_trajectory_planner_B.minnanb < 8; |
| 17533 | cartesian_trajectory_planner_B.minnanb++) { |
| 17534 | cartesian_trajectory_planner_B.partial_match_data[cartesian_trajectory_planner_B.minnanb] |
| 17535 | = |
| 17536 | cartesian_trajectory_planner_B.vstr[cartesian_trajectory_planner_B.minnanb]; |
| 17537 | } |
| 17538 | |
| 17539 | cartesian_trajectory_planner_B.matched = true; |
| 17540 | cartesian_trajectory_planner_B.nmatched = 1; |
| 17541 | guard3 = true; |
| 17542 | } |
| 17543 | } else { |
| 17544 | guard4 = true; |
| 17545 | } |
| 17546 | } else { |
| 17547 | guard4 = true; |
| 17548 | } |
| 17549 | |
| 17550 | if (guard4) { |
| 17551 | cartesian_trajectory_planner_B.matched = false; |
| 17552 | cartesian_trajectory_planner_B.nmatched = 0; |
| 17553 | guard3 = true; |
| 17554 | } |
| 17555 | |
| 17556 | if (guard3) { |
| 17557 | for (cartesian_trajectory_planner_B.minnanb = 0; |
| 17558 | cartesian_trajectory_planner_B.minnanb < 9; |
| 17559 | cartesian_trajectory_planner_B.minnanb++) { |
| 17560 | cartesian_trajectory_planner_B.b_vstr[cartesian_trajectory_planner_B.minnanb] |
| 17561 | = tmp_1[cartesian_trajectory_planner_B.minnanb]; |
| 17562 | } |
| 17563 | |
| 17564 | if (jtype->size[1] <= 9) { |
| 17565 | cartesian_trajectory_planner_B.loop_ub_g0 = jtype->size[1]; |
| 17566 | for (cartesian_trajectory_planner_B.minnanb = 0; |
| 17567 | cartesian_trajectory_planner_B.minnanb < 9; |
| 17568 | cartesian_trajectory_planner_B.minnanb++) { |
| 17569 | cartesian_trajectory_planner_B.b_na[cartesian_trajectory_planner_B.minnanb] |
| 17570 | = tmp_1[cartesian_trajectory_planner_B.minnanb]; |
| 17571 | } |
| 17572 | |
| 17573 | cartesian_trajectory_planner_B.b_bool_cg = false; |
| 17574 | cartesian_trajectory_planner_B.minnanb = jtype->size[1]; |
| 17575 | if (cartesian_trajectory_planner_B.minnanb >= 9) { |
| 17576 | cartesian_trajectory_planner_B.minnanb = 9; |
| 17577 | } |
| 17578 | |
| 17579 | guard11 = false; |
| 17580 | if (cartesian_trajectory_planner_B.loop_ub_g0 <= |
| 17581 | cartesian_trajectory_planner_B.minnanb) { |
| 17582 | if (cartesian_trajectory_planner_B.minnanb < |
| 17583 | cartesian_trajectory_planner_B.loop_ub_g0) { |
| 17584 | cartesian_trajectory_planner_B.loop_ub_g0 = |
| 17585 | cartesian_trajectory_planner_B.minnanb; |
| 17586 | } |
| 17587 | |
| 17588 | cartesian_trajectory_planner_B.minnanb = |
| 17589 | cartesian_trajectory_planner_B.loop_ub_g0 - 1; |
| 17590 | guard11 = true; |
| 17591 | } else { |
| 17592 | if (jtype->size[1] == 9) { |
| 17593 | cartesian_trajectory_planner_B.minnanb = 8; |
| 17594 | guard11 = true; |
| 17595 | } |
| 17596 | } |
| 17597 | |
| 17598 | if (guard11) { |
| 17599 | cartesian_trajectory_planner_B.loop_ub_g0 = 1; |
| 17600 | do { |
| 17601 | exitg1 = 0; |
| 17602 | if (cartesian_trajectory_planner_B.loop_ub_g0 - 1 <= |
| 17603 | cartesian_trajectory_planner_B.minnanb) { |
| 17604 | cartesian_trajectory_planner_B.kstr_c = |
| 17605 | cartesian_trajectory_planner_B.loop_ub_g0 - 1; |
| 17606 | if (tmp_3[static_cast<uint8_T>(jtype-> |
| 17607 | data[cartesian_trajectory_planner_B.kstr_c]) & 127] != tmp_3[ |
| 17608 | static_cast<int32_T> |
| 17609 | (cartesian_trajectory_planner_B.b_na[cartesian_trajectory_planner_B.kstr_c])]) |
| 17610 | { |
| 17611 | exitg1 = 1; |
| 17612 | } else { |
| 17613 | cartesian_trajectory_planner_B.loop_ub_g0++; |
| 17614 | } |
| 17615 | } else { |
| 17616 | cartesian_trajectory_planner_B.b_bool_cg = true; |
| 17617 | exitg1 = 1; |
| 17618 | } |
| 17619 | } while (exitg1 == 0); |
| 17620 | } |
| 17621 | |
| 17622 | if (cartesian_trajectory_planner_B.b_bool_cg) { |
| 17623 | if (jtype->size[1] == 9) { |
| 17624 | cartesian_trajectory_planner_B.nmatched = 1; |
| 17625 | cartesian_trajectory_planner_B.partial_match_size_idx_1 = 9; |
| 17626 | for (cartesian_trajectory_planner_B.minnanb = 0; |
| 17627 | cartesian_trajectory_planner_B.minnanb < 9; |
| 17628 | cartesian_trajectory_planner_B.minnanb++) { |
| 17629 | cartesian_trajectory_planner_B.b_na[cartesian_trajectory_planner_B.minnanb] |
| 17630 | = |
| 17631 | cartesian_trajectory_planner_B.b_vstr[cartesian_trajectory_planner_B.minnanb]; |
| 17632 | } |
| 17633 | } else { |
| 17634 | if (!cartesian_trajectory_planner_B.matched) { |
| 17635 | cartesian_trajectory_planner_B.partial_match_size_idx_1 = 9; |
| 17636 | for (cartesian_trajectory_planner_B.minnanb = 0; |
| 17637 | cartesian_trajectory_planner_B.minnanb < 9; |
| 17638 | cartesian_trajectory_planner_B.minnanb++) { |
| 17639 | cartesian_trajectory_planner_B.partial_match_data[cartesian_trajectory_planner_B.minnanb] |
| 17640 | = |
| 17641 | cartesian_trajectory_planner_B.b_vstr[cartesian_trajectory_planner_B.minnanb]; |
| 17642 | } |
| 17643 | } |
| 17644 | |
| 17645 | cartesian_trajectory_planner_B.matched = true; |
| 17646 | cartesian_trajectory_planner_B.nmatched++; |
| 17647 | guard2 = true; |
| 17648 | } |
| 17649 | } else { |
| 17650 | guard2 = true; |
| 17651 | } |
| 17652 | } else { |
| 17653 | guard2 = true; |
| 17654 | } |
| 17655 | } |
| 17656 | |
| 17657 | if (guard2) { |
| 17658 | for (cartesian_trajectory_planner_B.minnanb = 0; |
| 17659 | cartesian_trajectory_planner_B.minnanb < 5; |
| 17660 | cartesian_trajectory_planner_B.minnanb++) { |
| 17661 | cartesian_trajectory_planner_B.c_vstr[cartesian_trajectory_planner_B.minnanb] |
| 17662 | = tmp_2[cartesian_trajectory_planner_B.minnanb]; |
| 17663 | } |
| 17664 | |
| 17665 | if (jtype->size[1] <= 5) { |
| 17666 | cartesian_trajectory_planner_B.loop_ub_g0 = jtype->size[1]; |
| 17667 | for (cartesian_trajectory_planner_B.minnanb = 0; |
| 17668 | cartesian_trajectory_planner_B.minnanb < 5; |
| 17669 | cartesian_trajectory_planner_B.minnanb++) { |
| 17670 | cartesian_trajectory_planner_B.b_hm[cartesian_trajectory_planner_B.minnanb] |
| 17671 | = tmp_2[cartesian_trajectory_planner_B.minnanb]; |
| 17672 | } |
| 17673 | |
| 17674 | cartesian_trajectory_planner_B.b_bool_cg = false; |
| 17675 | cartesian_trajectory_planner_B.minnanb = jtype->size[1]; |
| 17676 | if (cartesian_trajectory_planner_B.minnanb >= 5) { |
| 17677 | cartesian_trajectory_planner_B.minnanb = 5; |
| 17678 | } |
| 17679 | |
| 17680 | guard11 = false; |
| 17681 | if (cartesian_trajectory_planner_B.loop_ub_g0 <= |
| 17682 | cartesian_trajectory_planner_B.minnanb) { |
| 17683 | if (cartesian_trajectory_planner_B.minnanb < |
| 17684 | cartesian_trajectory_planner_B.loop_ub_g0) { |
| 17685 | cartesian_trajectory_planner_B.loop_ub_g0 = |
| 17686 | cartesian_trajectory_planner_B.minnanb; |
| 17687 | } |
| 17688 | |
| 17689 | cartesian_trajectory_planner_B.minnanb = |
| 17690 | cartesian_trajectory_planner_B.loop_ub_g0 - 1; |
| 17691 | guard11 = true; |
| 17692 | } else { |
| 17693 | if (jtype->size[1] == 5) { |
| 17694 | cartesian_trajectory_planner_B.minnanb = 4; |
| 17695 | guard11 = true; |
| 17696 | } |
| 17697 | } |
| 17698 | |
| 17699 | if (guard11) { |
| 17700 | cartesian_trajectory_planner_B.loop_ub_g0 = 1; |
| 17701 | do { |
| 17702 | exitg1 = 0; |
| 17703 | if (cartesian_trajectory_planner_B.loop_ub_g0 - 1 <= |
| 17704 | cartesian_trajectory_planner_B.minnanb) { |
| 17705 | cartesian_trajectory_planner_B.kstr_c = |
| 17706 | cartesian_trajectory_planner_B.loop_ub_g0 - 1; |
| 17707 | if (tmp_3[static_cast<uint8_T>(jtype-> |
| 17708 | data[cartesian_trajectory_planner_B.kstr_c]) & 127] != tmp_3[ |
| 17709 | static_cast<int32_T> |
| 17710 | (cartesian_trajectory_planner_B.b_hm[cartesian_trajectory_planner_B.kstr_c])]) |
| 17711 | { |
| 17712 | exitg1 = 1; |
| 17713 | } else { |
| 17714 | cartesian_trajectory_planner_B.loop_ub_g0++; |
| 17715 | } |
| 17716 | } else { |
| 17717 | cartesian_trajectory_planner_B.b_bool_cg = true; |
| 17718 | exitg1 = 1; |
| 17719 | } |
| 17720 | } while (exitg1 == 0); |
| 17721 | } |
| 17722 | |
| 17723 | if (cartesian_trajectory_planner_B.b_bool_cg) { |
| 17724 | if (jtype->size[1] == 5) { |
| 17725 | cartesian_trajectory_planner_B.nmatched = 1; |
| 17726 | cartesian_trajectory_planner_B.partial_match_size_idx_1 = 5; |
| 17727 | for (cartesian_trajectory_planner_B.minnanb = 0; |
| 17728 | cartesian_trajectory_planner_B.minnanb < 5; |
| 17729 | cartesian_trajectory_planner_B.minnanb++) { |
| 17730 | cartesian_trajectory_planner_B.b_na[cartesian_trajectory_planner_B.minnanb] |
| 17731 | = |
| 17732 | cartesian_trajectory_planner_B.c_vstr[cartesian_trajectory_planner_B.minnanb]; |
| 17733 | } |
| 17734 | } else { |
| 17735 | if (!cartesian_trajectory_planner_B.matched) { |
| 17736 | cartesian_trajectory_planner_B.partial_match_size_idx_1 = 5; |
| 17737 | for (cartesian_trajectory_planner_B.minnanb = 0; |
| 17738 | cartesian_trajectory_planner_B.minnanb < 5; |
| 17739 | cartesian_trajectory_planner_B.minnanb++) { |
| 17740 | cartesian_trajectory_planner_B.partial_match_data[cartesian_trajectory_planner_B.minnanb] |
| 17741 | = |
| 17742 | cartesian_trajectory_planner_B.c_vstr[cartesian_trajectory_planner_B.minnanb]; |
| 17743 | } |
| 17744 | } |
| 17745 | |
| 17746 | cartesian_trajectory_planner_B.nmatched++; |
| 17747 | guard1 = true; |
| 17748 | } |
| 17749 | } else { |
| 17750 | guard1 = true; |
| 17751 | } |
| 17752 | } else { |
| 17753 | guard1 = true; |
| 17754 | } |
| 17755 | } |
| 17756 | |
| 17757 | if (guard1) { |
| 17758 | if (cartesian_trajectory_planner_B.nmatched == 0) { |
| 17759 | cartesian_trajectory_planner_B.partial_match_size_idx_1 = 0; |
| 17760 | } else { |
| 17761 | cartesian_trajectory_planner_B.loop_ub_g0 = |
| 17762 | cartesian_trajectory_planner_B.partial_match_size_idx_1 - 1; |
| 17763 | if (0 <= cartesian_trajectory_planner_B.loop_ub_g0) { |
| 17764 | memcpy(&cartesian_trajectory_planner_B.b_na[0], |
| 17765 | &cartesian_trajectory_planner_B.partial_match_data[0], |
| 17766 | (cartesian_trajectory_planner_B.loop_ub_g0 + 1) * sizeof(char_T)); |
| 17767 | } |
| 17768 | } |
| 17769 | } |
| 17770 | |
| 17771 | if ((cartesian_trajectory_planner_B.nmatched == 0) || ((jtype->size[1] == 0) |
| 17772 | != (cartesian_trajectory_planner_B.partial_match_size_idx_1 == 0))) { |
| 17773 | cartesian_trajectory_planner_B.partial_match_size_idx_1 = 0; |
| 17774 | } else { |
| 17775 | cartesian_trajectory_planner_B.loop_ub_g0 = |
| 17776 | cartesian_trajectory_planner_B.partial_match_size_idx_1 - 1; |
| 17777 | if (0 <= cartesian_trajectory_planner_B.loop_ub_g0) { |
| 17778 | memcpy(&cartesian_trajectory_planner_B.partial_match_data[0], |
| 17779 | &cartesian_trajectory_planner_B.b_na[0], |
| 17780 | (cartesian_trajectory_planner_B.loop_ub_g0 + 1) * sizeof(char_T)); |
| 17781 | } |
| 17782 | } |
| 17783 | |
| 17784 | cartesian_trajectory_planner_B.minnanb = obj->Type->size[0] * obj->Type->size |
| 17785 | [1]; |
| 17786 | obj->Type->size[0] = 1; |
| 17787 | obj->Type->size[1] = cartesian_trajectory_planner_B.partial_match_size_idx_1; |
| 17788 | cartes_emxEnsureCapacity_char_T(obj->Type, |
| 17789 | cartesian_trajectory_planner_B.minnanb); |
| 17790 | cartesian_trajectory_planner_B.loop_ub_g0 = |
| 17791 | cartesian_trajectory_planner_B.partial_match_size_idx_1 - 1; |
| 17792 | for (cartesian_trajectory_planner_B.minnanb = 0; |
| 17793 | cartesian_trajectory_planner_B.minnanb <= |
| 17794 | cartesian_trajectory_planner_B.loop_ub_g0; |
| 17795 | cartesian_trajectory_planner_B.minnanb++) { |
| 17796 | obj->Type->data[cartesian_trajectory_planner_B.minnanb] = |
| 17797 | cartesian_trajectory_planner_B.partial_match_data[cartesian_trajectory_planner_B.minnanb]; |
| 17798 | } |
| 17799 | |
| 17800 | cartesian_trajec_emxInit_char_T(&switch_expression, 2); |
| 17801 | cartesian_trajectory_planner_B.minnanb = switch_expression->size[0] * |
| 17802 | switch_expression->size[1]; |
| 17803 | switch_expression->size[0] = 1; |
| 17804 | switch_expression->size[1] = obj->Type->size[1]; |
| 17805 | cartes_emxEnsureCapacity_char_T(switch_expression, |
| 17806 | cartesian_trajectory_planner_B.minnanb); |
| 17807 | cartesian_trajectory_planner_B.loop_ub_g0 = obj->Type->size[0] * obj-> |
| 17808 | Type->size[1] - 1; |
| 17809 | for (cartesian_trajectory_planner_B.minnanb = 0; |
| 17810 | cartesian_trajectory_planner_B.minnanb <= |
| 17811 | cartesian_trajectory_planner_B.loop_ub_g0; |
| 17812 | cartesian_trajectory_planner_B.minnanb++) { |
| 17813 | switch_expression->data[cartesian_trajectory_planner_B.minnanb] = obj-> |
| 17814 | Type->data[cartesian_trajectory_planner_B.minnanb]; |
| 17815 | } |
| 17816 | |
| 17817 | for (cartesian_trajectory_planner_B.minnanb = 0; |
| 17818 | cartesian_trajectory_planner_B.minnanb < 8; |
| 17819 | cartesian_trajectory_planner_B.minnanb++) { |
| 17820 | cartesian_trajectory_planner_B.b_cq[cartesian_trajectory_planner_B.minnanb] = |
| 17821 | tmp_0[cartesian_trajectory_planner_B.minnanb]; |
| 17822 | } |
| 17823 | |
| 17824 | cartesian_trajectory_planner_B.b_bool_cg = false; |
| 17825 | if (switch_expression->size[1] == 8) { |
| 17826 | cartesian_trajectory_planner_B.loop_ub_g0 = 1; |
| 17827 | do { |
| 17828 | exitg1 = 0; |
| 17829 | if (cartesian_trajectory_planner_B.loop_ub_g0 - 1 < 8) { |
| 17830 | cartesian_trajectory_planner_B.kstr_c = |
| 17831 | cartesian_trajectory_planner_B.loop_ub_g0 - 1; |
| 17832 | if (switch_expression->data[cartesian_trajectory_planner_B.kstr_c] != |
| 17833 | cartesian_trajectory_planner_B.b_cq[cartesian_trajectory_planner_B.kstr_c]) |
| 17834 | { |
| 17835 | exitg1 = 1; |
| 17836 | } else { |
| 17837 | cartesian_trajectory_planner_B.loop_ub_g0++; |
| 17838 | } |
| 17839 | } else { |
| 17840 | cartesian_trajectory_planner_B.b_bool_cg = true; |
| 17841 | exitg1 = 1; |
| 17842 | } |
| 17843 | } while (exitg1 == 0); |
| 17844 | } |
| 17845 | |
| 17846 | if (cartesian_trajectory_planner_B.b_bool_cg) { |
| 17847 | cartesian_trajectory_planner_B.minnanb = 0; |
| 17848 | } else { |
| 17849 | for (cartesian_trajectory_planner_B.minnanb = 0; |
| 17850 | cartesian_trajectory_planner_B.minnanb < 9; |
| 17851 | cartesian_trajectory_planner_B.minnanb++) { |
| 17852 | cartesian_trajectory_planner_B.b_na[cartesian_trajectory_planner_B.minnanb] |
| 17853 | = tmp_1[cartesian_trajectory_planner_B.minnanb]; |
| 17854 | } |
| 17855 | |
| 17856 | cartesian_trajectory_planner_B.b_bool_cg = false; |
| 17857 | if (switch_expression->size[1] == 9) { |
| 17858 | cartesian_trajectory_planner_B.loop_ub_g0 = 1; |
| 17859 | do { |
| 17860 | exitg1 = 0; |
| 17861 | if (cartesian_trajectory_planner_B.loop_ub_g0 - 1 < 9) { |
| 17862 | cartesian_trajectory_planner_B.kstr_c = |
| 17863 | cartesian_trajectory_planner_B.loop_ub_g0 - 1; |
| 17864 | if (switch_expression->data[cartesian_trajectory_planner_B.kstr_c] != |
| 17865 | cartesian_trajectory_planner_B.b_na[cartesian_trajectory_planner_B.kstr_c]) |
| 17866 | { |
| 17867 | exitg1 = 1; |
| 17868 | } else { |
| 17869 | cartesian_trajectory_planner_B.loop_ub_g0++; |
| 17870 | } |
| 17871 | } else { |
| 17872 | cartesian_trajectory_planner_B.b_bool_cg = true; |
| 17873 | exitg1 = 1; |
| 17874 | } |
| 17875 | } while (exitg1 == 0); |
| 17876 | } |
| 17877 | |
| 17878 | if (cartesian_trajectory_planner_B.b_bool_cg) { |
| 17879 | cartesian_trajectory_planner_B.minnanb = 1; |
| 17880 | } else { |
| 17881 | cartesian_trajectory_planner_B.minnanb = -1; |
| 17882 | } |
| 17883 | } |
| 17884 | |
| 17885 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 17886 | switch (cartesian_trajectory_planner_B.minnanb) { |
| 17887 | case 0: |
| 17888 | cartesian_trajectory_planner_B.iv3[0] = 0; |
| 17889 | cartesian_trajectory_planner_B.iv3[1] = 0; |
| 17890 | cartesian_trajectory_planner_B.iv3[2] = 1; |
| 17891 | cartesian_trajectory_planner_B.iv3[3] = 0; |
| 17892 | cartesian_trajectory_planner_B.iv3[4] = 0; |
| 17893 | cartesian_trajectory_planner_B.iv3[5] = 0; |
| 17894 | for (cartesian_trajectory_planner_B.minnanb = 0; |
| 17895 | cartesian_trajectory_planner_B.minnanb < 6; |
| 17896 | cartesian_trajectory_planner_B.minnanb++) { |
| 17897 | cartesian_trajectory_planner_B.msubspace_data_m[cartesian_trajectory_planner_B.minnanb] |
| 17898 | = |
| 17899 | cartesian_trajectory_planner_B.iv3[cartesian_trajectory_planner_B.minnanb]; |
| 17900 | } |
| 17901 | |
| 17902 | cartesian_trajectory_planner_B.poslim_data_i[0] = -3.1415926535897931; |
| 17903 | cartesian_trajectory_planner_B.poslim_data_i[1] = 3.1415926535897931; |
| 17904 | obj->VelocityNumber = 1.0; |
| 17905 | obj->PositionNumber = 1.0; |
| 17906 | obj->JointAxisInternal[0] = 0.0; |
| 17907 | obj->JointAxisInternal[1] = 0.0; |
| 17908 | obj->JointAxisInternal[2] = 1.0; |
| 17909 | break; |
| 17910 | |
| 17911 | case 1: |
| 17912 | cartesian_trajectory_planner_B.iv3[0] = 0; |
| 17913 | cartesian_trajectory_planner_B.iv3[1] = 0; |
| 17914 | cartesian_trajectory_planner_B.iv3[2] = 0; |
| 17915 | cartesian_trajectory_planner_B.iv3[3] = 0; |
| 17916 | cartesian_trajectory_planner_B.iv3[4] = 0; |
| 17917 | cartesian_trajectory_planner_B.iv3[5] = 1; |
| 17918 | for (cartesian_trajectory_planner_B.minnanb = 0; |
| 17919 | cartesian_trajectory_planner_B.minnanb < 6; |
| 17920 | cartesian_trajectory_planner_B.minnanb++) { |
| 17921 | cartesian_trajectory_planner_B.msubspace_data_m[cartesian_trajectory_planner_B.minnanb] |
| 17922 | = |
| 17923 | cartesian_trajectory_planner_B.iv3[cartesian_trajectory_planner_B.minnanb]; |
| 17924 | } |
| 17925 | |
| 17926 | cartesian_trajectory_planner_B.poslim_data_i[0] = -0.5; |
| 17927 | cartesian_trajectory_planner_B.poslim_data_i[1] = 0.5; |
| 17928 | obj->VelocityNumber = 1.0; |
| 17929 | obj->PositionNumber = 1.0; |
| 17930 | obj->JointAxisInternal[0] = 0.0; |
| 17931 | obj->JointAxisInternal[1] = 0.0; |
| 17932 | obj->JointAxisInternal[2] = 1.0; |
| 17933 | break; |
| 17934 | |
| 17935 | default: |
| 17936 | for (cartesian_trajectory_planner_B.minnanb = 0; |
| 17937 | cartesian_trajectory_planner_B.minnanb < 6; |
| 17938 | cartesian_trajectory_planner_B.minnanb++) { |
| 17939 | cartesian_trajectory_planner_B.msubspace_data_m[cartesian_trajectory_planner_B.minnanb] |
| 17940 | = 0; |
| 17941 | } |
| 17942 | |
| 17943 | cartesian_trajectory_planner_B.poslim_data_i[0] = 0.0; |
| 17944 | cartesian_trajectory_planner_B.poslim_data_i[1] = 0.0; |
| 17945 | obj->VelocityNumber = 0.0; |
| 17946 | obj->PositionNumber = 0.0; |
| 17947 | obj->JointAxisInternal[0] = 0.0; |
| 17948 | obj->JointAxisInternal[1] = 0.0; |
| 17949 | obj->JointAxisInternal[2] = 0.0; |
| 17950 | break; |
| 17951 | } |
| 17952 | |
| 17953 | cartesian_trajectory_planner_B.minnanb = obj->MotionSubspace->size[0] * |
| 17954 | obj->MotionSubspace->size[1]; |
| 17955 | obj->MotionSubspace->size[0] = 6; |
| 17956 | obj->MotionSubspace->size[1] = 1; |
| 17957 | cartes_emxEnsureCapacity_real_T(obj->MotionSubspace, |
| 17958 | cartesian_trajectory_planner_B.minnanb); |
| 17959 | for (cartesian_trajectory_planner_B.minnanb = 0; |
| 17960 | cartesian_trajectory_planner_B.minnanb < 6; |
| 17961 | cartesian_trajectory_planner_B.minnanb++) { |
| 17962 | obj->MotionSubspace->data[cartesian_trajectory_planner_B.minnanb] = |
| 17963 | cartesian_trajectory_planner_B.msubspace_data_m[cartesian_trajectory_planner_B.minnanb]; |
| 17964 | } |
| 17965 | |
| 17966 | cartesian_trajectory_planner_B.minnanb = obj->PositionLimitsInternal->size[0] * |
| 17967 | obj->PositionLimitsInternal->size[1]; |
| 17968 | obj->PositionLimitsInternal->size[0] = 1; |
| 17969 | obj->PositionLimitsInternal->size[1] = 2; |
| 17970 | cartes_emxEnsureCapacity_real_T(obj->PositionLimitsInternal, |
| 17971 | cartesian_trajectory_planner_B.minnanb); |
| 17972 | for (cartesian_trajectory_planner_B.minnanb = 0; |
| 17973 | cartesian_trajectory_planner_B.minnanb < 2; |
| 17974 | cartesian_trajectory_planner_B.minnanb++) { |
| 17975 | obj->PositionLimitsInternal->data[cartesian_trajectory_planner_B.minnanb] = |
| 17976 | cartesian_trajectory_planner_B.poslim_data_i[cartesian_trajectory_planner_B.minnanb]; |
| 17977 | } |
| 17978 | |
| 17979 | cartesian_trajectory_planner_B.minnanb = obj->HomePositionInternal->size[0]; |
| 17980 | obj->HomePositionInternal->size[0] = 1; |
| 17981 | cartes_emxEnsureCapacity_real_T(obj->HomePositionInternal, |
| 17982 | cartesian_trajectory_planner_B.minnanb); |
| 17983 | for (cartesian_trajectory_planner_B.minnanb = 0; |
| 17984 | cartesian_trajectory_planner_B.minnanb < 1; |
| 17985 | cartesian_trajectory_planner_B.minnanb++) { |
| 17986 | obj->HomePositionInternal->data[0] = 0.0; |
| 17987 | } |
| 17988 | |
| 17989 | return b_obj; |
| 17990 | } |
| 17991 | |
| 17992 | static w_robotics_manip_internal_Rig_T *cartesian_trajec_RigidBody_copy(const |
| 17993 | v_robotics_manip_internal_Rig_T *obj, c_rigidBodyJoint_cartesian__a_T *iobj_0, |
| 17994 | c_rigidBodyJoint_cartesian__a_T *iobj_1, w_robotics_manip_internal_Rig_T |
| 17995 | *iobj_2) |
| 17996 | { |
| 17997 | w_robotics_manip_internal_Rig_T *newbody; |
| 17998 | c_rigidBodyJoint_cartesian__a_T *newjoint; |
| 17999 | emxArray_char_T_cartesian_tra_T *jtype; |
| 18000 | emxArray_char_T_cartesian_tra_T *jname; |
| 18001 | emxArray_real_T_cartesian_tra_T *obj_0; |
| 18002 | emxArray_real_T_cartesian_tra_T *obj_1; |
| 18003 | emxArray_real_T_cartesian_tra_T *obj_2; |
| 18004 | static const int8_T tmp[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1 |
| 18005 | }; |
| 18006 | |
| 18007 | static const char_T tmp_0[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 18008 | |
| 18009 | static const char_T tmp_1[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 18010 | |
| 18011 | static const char_T tmp_2[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 18012 | |
| 18013 | int32_T exitg1; |
| 18014 | cartesian_trajec_emxInit_char_T(&jtype, 2); |
| 18015 | cartesian_trajectory_planner_B.b_kstr_ld = jtype->size[0] * jtype->size[1]; |
| 18016 | jtype->size[0] = 1; |
| 18017 | jtype->size[1] = obj->NameInternal->size[1]; |
| 18018 | cartes_emxEnsureCapacity_char_T(jtype, |
| 18019 | cartesian_trajectory_planner_B.b_kstr_ld); |
| 18020 | cartesian_trajectory_planner_B.loop_ub_hb = obj->NameInternal->size[0] * |
| 18021 | obj->NameInternal->size[1] - 1; |
| 18022 | for (cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18023 | cartesian_trajectory_planner_B.b_kstr_ld <= |
| 18024 | cartesian_trajectory_planner_B.loop_ub_hb; |
| 18025 | cartesian_trajectory_planner_B.b_kstr_ld++) { |
| 18026 | jtype->data[cartesian_trajectory_planner_B.b_kstr_ld] = obj-> |
| 18027 | NameInternal->data[cartesian_trajectory_planner_B.b_kstr_ld]; |
| 18028 | } |
| 18029 | |
| 18030 | newbody = iobj_2; |
| 18031 | cartesian_trajectory_planner_B.b_kstr_ld = iobj_2->NameInternal->size[0] * |
| 18032 | iobj_2->NameInternal->size[1]; |
| 18033 | iobj_2->NameInternal->size[0] = 1; |
| 18034 | iobj_2->NameInternal->size[1] = jtype->size[1]; |
| 18035 | cartes_emxEnsureCapacity_char_T(iobj_2->NameInternal, |
| 18036 | cartesian_trajectory_planner_B.b_kstr_ld); |
| 18037 | cartesian_trajectory_planner_B.loop_ub_hb = jtype->size[0] * jtype->size[1] - |
| 18038 | 1; |
| 18039 | for (cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18040 | cartesian_trajectory_planner_B.b_kstr_ld <= |
| 18041 | cartesian_trajectory_planner_B.loop_ub_hb; |
| 18042 | cartesian_trajectory_planner_B.b_kstr_ld++) { |
| 18043 | iobj_2->NameInternal->data[cartesian_trajectory_planner_B.b_kstr_ld] = |
| 18044 | jtype->data[cartesian_trajectory_planner_B.b_kstr_ld]; |
| 18045 | } |
| 18046 | |
| 18047 | iobj_0->InTree = false; |
| 18048 | for (cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18049 | cartesian_trajectory_planner_B.b_kstr_ld < 16; |
| 18050 | cartesian_trajectory_planner_B.b_kstr_ld++) { |
| 18051 | iobj_0->JointToParentTransform[cartesian_trajectory_planner_B.b_kstr_ld] = |
| 18052 | tmp[cartesian_trajectory_planner_B.b_kstr_ld]; |
| 18053 | } |
| 18054 | |
| 18055 | for (cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18056 | cartesian_trajectory_planner_B.b_kstr_ld < 16; |
| 18057 | cartesian_trajectory_planner_B.b_kstr_ld++) { |
| 18058 | iobj_0->ChildToJointTransform[cartesian_trajectory_planner_B.b_kstr_ld] = |
| 18059 | tmp[cartesian_trajectory_planner_B.b_kstr_ld]; |
| 18060 | } |
| 18061 | |
| 18062 | cartesian_trajectory_planner_B.b_kstr_ld = iobj_0->NameInternal->size[0] * |
| 18063 | iobj_0->NameInternal->size[1]; |
| 18064 | iobj_0->NameInternal->size[0] = 1; |
| 18065 | iobj_0->NameInternal->size[1] = jtype->size[1] + 4; |
| 18066 | cartes_emxEnsureCapacity_char_T(iobj_0->NameInternal, |
| 18067 | cartesian_trajectory_planner_B.b_kstr_ld); |
| 18068 | cartesian_trajectory_planner_B.loop_ub_hb = jtype->size[0] * jtype->size[1]; |
| 18069 | for (cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18070 | cartesian_trajectory_planner_B.b_kstr_ld < |
| 18071 | cartesian_trajectory_planner_B.loop_ub_hb; |
| 18072 | cartesian_trajectory_planner_B.b_kstr_ld++) { |
| 18073 | iobj_0->NameInternal->data[cartesian_trajectory_planner_B.b_kstr_ld] = |
| 18074 | jtype->data[cartesian_trajectory_planner_B.b_kstr_ld]; |
| 18075 | } |
| 18076 | |
| 18077 | iobj_0->NameInternal->data[cartesian_trajectory_planner_B.loop_ub_hb] = '_'; |
| 18078 | iobj_0->NameInternal->data[cartesian_trajectory_planner_B.loop_ub_hb + 1] = |
| 18079 | 'j'; |
| 18080 | iobj_0->NameInternal->data[cartesian_trajectory_planner_B.loop_ub_hb + 2] = |
| 18081 | 'n'; |
| 18082 | iobj_0->NameInternal->data[cartesian_trajectory_planner_B.loop_ub_hb + 3] = |
| 18083 | 't'; |
| 18084 | cartesian_trajectory_planner_B.b_kstr_ld = iobj_0->Type->size[0] * |
| 18085 | iobj_0->Type->size[1]; |
| 18086 | iobj_0->Type->size[0] = 1; |
| 18087 | iobj_0->Type->size[1] = 5; |
| 18088 | cartes_emxEnsureCapacity_char_T(iobj_0->Type, |
| 18089 | cartesian_trajectory_planner_B.b_kstr_ld); |
| 18090 | for (cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18091 | cartesian_trajectory_planner_B.b_kstr_ld < 5; |
| 18092 | cartesian_trajectory_planner_B.b_kstr_ld++) { |
| 18093 | iobj_0->Type->data[cartesian_trajectory_planner_B.b_kstr_ld] = |
| 18094 | tmp_0[cartesian_trajectory_planner_B.b_kstr_ld]; |
| 18095 | } |
| 18096 | |
| 18097 | cartesian_trajectory_planner_B.b_kstr_ld = jtype->size[0] * jtype->size[1]; |
| 18098 | jtype->size[0] = 1; |
| 18099 | jtype->size[1] = iobj_0->Type->size[1]; |
| 18100 | cartes_emxEnsureCapacity_char_T(jtype, |
| 18101 | cartesian_trajectory_planner_B.b_kstr_ld); |
| 18102 | cartesian_trajectory_planner_B.loop_ub_hb = iobj_0->Type->size[0] * |
| 18103 | iobj_0->Type->size[1] - 1; |
| 18104 | for (cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18105 | cartesian_trajectory_planner_B.b_kstr_ld <= |
| 18106 | cartesian_trajectory_planner_B.loop_ub_hb; |
| 18107 | cartesian_trajectory_planner_B.b_kstr_ld++) { |
| 18108 | jtype->data[cartesian_trajectory_planner_B.b_kstr_ld] = iobj_0->Type-> |
| 18109 | data[cartesian_trajectory_planner_B.b_kstr_ld]; |
| 18110 | } |
| 18111 | |
| 18112 | for (cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18113 | cartesian_trajectory_planner_B.b_kstr_ld < 8; |
| 18114 | cartesian_trajectory_planner_B.b_kstr_ld++) { |
| 18115 | cartesian_trajectory_planner_B.b_gg[cartesian_trajectory_planner_B.b_kstr_ld] |
| 18116 | = tmp_1[cartesian_trajectory_planner_B.b_kstr_ld]; |
| 18117 | } |
| 18118 | |
| 18119 | cartesian_trajectory_planner_B.b_bool_k = false; |
| 18120 | if (jtype->size[1] == 8) { |
| 18121 | cartesian_trajectory_planner_B.b_kstr_ld = 1; |
| 18122 | do { |
| 18123 | exitg1 = 0; |
| 18124 | if (cartesian_trajectory_planner_B.b_kstr_ld - 1 < 8) { |
| 18125 | cartesian_trajectory_planner_B.loop_ub_hb = |
| 18126 | cartesian_trajectory_planner_B.b_kstr_ld - 1; |
| 18127 | if (jtype->data[cartesian_trajectory_planner_B.loop_ub_hb] != |
| 18128 | cartesian_trajectory_planner_B.b_gg[cartesian_trajectory_planner_B.loop_ub_hb]) |
| 18129 | { |
| 18130 | exitg1 = 1; |
| 18131 | } else { |
| 18132 | cartesian_trajectory_planner_B.b_kstr_ld++; |
| 18133 | } |
| 18134 | } else { |
| 18135 | cartesian_trajectory_planner_B.b_bool_k = true; |
| 18136 | exitg1 = 1; |
| 18137 | } |
| 18138 | } while (exitg1 == 0); |
| 18139 | } |
| 18140 | |
| 18141 | if (cartesian_trajectory_planner_B.b_bool_k) { |
| 18142 | cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18143 | } else { |
| 18144 | for (cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18145 | cartesian_trajectory_planner_B.b_kstr_ld < 9; |
| 18146 | cartesian_trajectory_planner_B.b_kstr_ld++) { |
| 18147 | cartesian_trajectory_planner_B.b_d[cartesian_trajectory_planner_B.b_kstr_ld] |
| 18148 | = tmp_2[cartesian_trajectory_planner_B.b_kstr_ld]; |
| 18149 | } |
| 18150 | |
| 18151 | cartesian_trajectory_planner_B.b_bool_k = false; |
| 18152 | if (jtype->size[1] == 9) { |
| 18153 | cartesian_trajectory_planner_B.b_kstr_ld = 1; |
| 18154 | do { |
| 18155 | exitg1 = 0; |
| 18156 | if (cartesian_trajectory_planner_B.b_kstr_ld - 1 < 9) { |
| 18157 | cartesian_trajectory_planner_B.loop_ub_hb = |
| 18158 | cartesian_trajectory_planner_B.b_kstr_ld - 1; |
| 18159 | if (jtype->data[cartesian_trajectory_planner_B.loop_ub_hb] != |
| 18160 | cartesian_trajectory_planner_B.b_d[cartesian_trajectory_planner_B.loop_ub_hb]) |
| 18161 | { |
| 18162 | exitg1 = 1; |
| 18163 | } else { |
| 18164 | cartesian_trajectory_planner_B.b_kstr_ld++; |
| 18165 | } |
| 18166 | } else { |
| 18167 | cartesian_trajectory_planner_B.b_bool_k = true; |
| 18168 | exitg1 = 1; |
| 18169 | } |
| 18170 | } while (exitg1 == 0); |
| 18171 | } |
| 18172 | |
| 18173 | if (cartesian_trajectory_planner_B.b_bool_k) { |
| 18174 | cartesian_trajectory_planner_B.b_kstr_ld = 1; |
| 18175 | } else { |
| 18176 | cartesian_trajectory_planner_B.b_kstr_ld = -1; |
| 18177 | } |
| 18178 | } |
| 18179 | |
| 18180 | switch (cartesian_trajectory_planner_B.b_kstr_ld) { |
| 18181 | case 0: |
| 18182 | cartesian_trajectory_planner_B.iv2[0] = 0; |
| 18183 | cartesian_trajectory_planner_B.iv2[1] = 0; |
| 18184 | cartesian_trajectory_planner_B.iv2[2] = 1; |
| 18185 | cartesian_trajectory_planner_B.iv2[3] = 0; |
| 18186 | cartesian_trajectory_planner_B.iv2[4] = 0; |
| 18187 | cartesian_trajectory_planner_B.iv2[5] = 0; |
| 18188 | for (cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18189 | cartesian_trajectory_planner_B.b_kstr_ld < 6; |
| 18190 | cartesian_trajectory_planner_B.b_kstr_ld++) { |
| 18191 | cartesian_trajectory_planner_B.msubspace_data_o[cartesian_trajectory_planner_B.b_kstr_ld] |
| 18192 | = |
| 18193 | cartesian_trajectory_planner_B.iv2[cartesian_trajectory_planner_B.b_kstr_ld]; |
| 18194 | } |
| 18195 | |
| 18196 | cartesian_trajectory_planner_B.poslim_data_as[0] = -3.1415926535897931; |
| 18197 | cartesian_trajectory_planner_B.poslim_data_as[1] = 3.1415926535897931; |
| 18198 | iobj_0->VelocityNumber = 1.0; |
| 18199 | iobj_0->PositionNumber = 1.0; |
| 18200 | iobj_0->JointAxisInternal[0] = 0.0; |
| 18201 | iobj_0->JointAxisInternal[1] = 0.0; |
| 18202 | iobj_0->JointAxisInternal[2] = 1.0; |
| 18203 | break; |
| 18204 | |
| 18205 | case 1: |
| 18206 | cartesian_trajectory_planner_B.iv2[0] = 0; |
| 18207 | cartesian_trajectory_planner_B.iv2[1] = 0; |
| 18208 | cartesian_trajectory_planner_B.iv2[2] = 0; |
| 18209 | cartesian_trajectory_planner_B.iv2[3] = 0; |
| 18210 | cartesian_trajectory_planner_B.iv2[4] = 0; |
| 18211 | cartesian_trajectory_planner_B.iv2[5] = 1; |
| 18212 | for (cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18213 | cartesian_trajectory_planner_B.b_kstr_ld < 6; |
| 18214 | cartesian_trajectory_planner_B.b_kstr_ld++) { |
| 18215 | cartesian_trajectory_planner_B.msubspace_data_o[cartesian_trajectory_planner_B.b_kstr_ld] |
| 18216 | = |
| 18217 | cartesian_trajectory_planner_B.iv2[cartesian_trajectory_planner_B.b_kstr_ld]; |
| 18218 | } |
| 18219 | |
| 18220 | cartesian_trajectory_planner_B.poslim_data_as[0] = -0.5; |
| 18221 | cartesian_trajectory_planner_B.poslim_data_as[1] = 0.5; |
| 18222 | iobj_0->VelocityNumber = 1.0; |
| 18223 | iobj_0->PositionNumber = 1.0; |
| 18224 | iobj_0->JointAxisInternal[0] = 0.0; |
| 18225 | iobj_0->JointAxisInternal[1] = 0.0; |
| 18226 | iobj_0->JointAxisInternal[2] = 1.0; |
| 18227 | break; |
| 18228 | |
| 18229 | default: |
| 18230 | for (cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18231 | cartesian_trajectory_planner_B.b_kstr_ld < 6; |
| 18232 | cartesian_trajectory_planner_B.b_kstr_ld++) { |
| 18233 | cartesian_trajectory_planner_B.msubspace_data_o[cartesian_trajectory_planner_B.b_kstr_ld] |
| 18234 | = 0; |
| 18235 | } |
| 18236 | |
| 18237 | cartesian_trajectory_planner_B.poslim_data_as[0] = 0.0; |
| 18238 | cartesian_trajectory_planner_B.poslim_data_as[1] = 0.0; |
| 18239 | iobj_0->VelocityNumber = 0.0; |
| 18240 | iobj_0->PositionNumber = 0.0; |
| 18241 | iobj_0->JointAxisInternal[0] = 0.0; |
| 18242 | iobj_0->JointAxisInternal[1] = 0.0; |
| 18243 | iobj_0->JointAxisInternal[2] = 0.0; |
| 18244 | break; |
| 18245 | } |
| 18246 | |
| 18247 | cartesian_trajectory_planner_B.b_kstr_ld = iobj_0->MotionSubspace->size[0] * |
| 18248 | iobj_0->MotionSubspace->size[1]; |
| 18249 | iobj_0->MotionSubspace->size[0] = 6; |
| 18250 | iobj_0->MotionSubspace->size[1] = 1; |
| 18251 | cartes_emxEnsureCapacity_real_T(iobj_0->MotionSubspace, |
| 18252 | cartesian_trajectory_planner_B.b_kstr_ld); |
| 18253 | for (cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18254 | cartesian_trajectory_planner_B.b_kstr_ld < 6; |
| 18255 | cartesian_trajectory_planner_B.b_kstr_ld++) { |
| 18256 | iobj_0->MotionSubspace->data[cartesian_trajectory_planner_B.b_kstr_ld] = |
| 18257 | cartesian_trajectory_planner_B.msubspace_data_o[cartesian_trajectory_planner_B.b_kstr_ld]; |
| 18258 | } |
| 18259 | |
| 18260 | cartesian_trajectory_planner_B.b_kstr_ld = iobj_0-> |
| 18261 | PositionLimitsInternal->size[0] * iobj_0->PositionLimitsInternal->size[1]; |
| 18262 | iobj_0->PositionLimitsInternal->size[0] = 1; |
| 18263 | iobj_0->PositionLimitsInternal->size[1] = 2; |
| 18264 | cartes_emxEnsureCapacity_real_T(iobj_0->PositionLimitsInternal, |
| 18265 | cartesian_trajectory_planner_B.b_kstr_ld); |
| 18266 | for (cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18267 | cartesian_trajectory_planner_B.b_kstr_ld < 2; |
| 18268 | cartesian_trajectory_planner_B.b_kstr_ld++) { |
| 18269 | iobj_0->PositionLimitsInternal-> |
| 18270 | data[cartesian_trajectory_planner_B.b_kstr_ld] = |
| 18271 | cartesian_trajectory_planner_B.poslim_data_as[cartesian_trajectory_planner_B.b_kstr_ld]; |
| 18272 | } |
| 18273 | |
| 18274 | cartesian_trajectory_planner_B.b_kstr_ld = iobj_0->HomePositionInternal->size |
| 18275 | [0]; |
| 18276 | iobj_0->HomePositionInternal->size[0] = 1; |
| 18277 | cartes_emxEnsureCapacity_real_T(iobj_0->HomePositionInternal, |
| 18278 | cartesian_trajectory_planner_B.b_kstr_ld); |
| 18279 | for (cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18280 | cartesian_trajectory_planner_B.b_kstr_ld < 1; |
| 18281 | cartesian_trajectory_planner_B.b_kstr_ld++) { |
| 18282 | iobj_0->HomePositionInternal->data[0] = 0.0; |
| 18283 | } |
| 18284 | |
| 18285 | iobj_2->JointInternal = iobj_0; |
| 18286 | iobj_2->Index = -1.0; |
| 18287 | iobj_2->ParentIndex = -1.0; |
| 18288 | cartesian_trajectory_planner_B.b_kstr_ld = jtype->size[0] * jtype->size[1]; |
| 18289 | jtype->size[0] = 1; |
| 18290 | jtype->size[1] = obj->JointInternal.Type->size[1]; |
| 18291 | cartes_emxEnsureCapacity_char_T(jtype, |
| 18292 | cartesian_trajectory_planner_B.b_kstr_ld); |
| 18293 | cartesian_trajectory_planner_B.loop_ub_hb = obj->JointInternal.Type->size[0] * |
| 18294 | obj->JointInternal.Type->size[1] - 1; |
| 18295 | for (cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18296 | cartesian_trajectory_planner_B.b_kstr_ld <= |
| 18297 | cartesian_trajectory_planner_B.loop_ub_hb; |
| 18298 | cartesian_trajectory_planner_B.b_kstr_ld++) { |
| 18299 | jtype->data[cartesian_trajectory_planner_B.b_kstr_ld] = |
| 18300 | obj->JointInternal.Type->data[cartesian_trajectory_planner_B.b_kstr_ld]; |
| 18301 | } |
| 18302 | |
| 18303 | cartesian_trajec_emxInit_char_T(&jname, 2); |
| 18304 | cartesian_trajectory_planner_B.b_kstr_ld = jname->size[0] * jname->size[1]; |
| 18305 | jname->size[0] = 1; |
| 18306 | jname->size[1] = obj->JointInternal.NameInternal->size[1]; |
| 18307 | cartes_emxEnsureCapacity_char_T(jname, |
| 18308 | cartesian_trajectory_planner_B.b_kstr_ld); |
| 18309 | cartesian_trajectory_planner_B.loop_ub_hb = obj-> |
| 18310 | JointInternal.NameInternal->size[0] * obj->JointInternal.NameInternal->size |
| 18311 | [1] - 1; |
| 18312 | for (cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18313 | cartesian_trajectory_planner_B.b_kstr_ld <= |
| 18314 | cartesian_trajectory_planner_B.loop_ub_hb; |
| 18315 | cartesian_trajectory_planner_B.b_kstr_ld++) { |
| 18316 | jname->data[cartesian_trajectory_planner_B.b_kstr_ld] = |
| 18317 | obj->JointInternal.NameInternal-> |
| 18318 | data[cartesian_trajectory_planner_B.b_kstr_ld]; |
| 18319 | } |
| 18320 | |
| 18321 | newjoint = c_rigidBodyJoint_rigidBodyJoint(iobj_1, jname, jtype); |
| 18322 | cartesian_trajectory_planner_B.b_kstr_ld = jtype->size[0] * jtype->size[1]; |
| 18323 | jtype->size[0] = 1; |
| 18324 | jtype->size[1] = obj->JointInternal.NameInternal->size[1]; |
| 18325 | cartes_emxEnsureCapacity_char_T(jtype, |
| 18326 | cartesian_trajectory_planner_B.b_kstr_ld); |
| 18327 | cartesian_trajectory_planner_B.loop_ub_hb = obj-> |
| 18328 | JointInternal.NameInternal->size[0] * obj->JointInternal.NameInternal->size |
| 18329 | [1] - 1; |
| 18330 | cartesian_trajec_emxFree_char_T(&jname); |
| 18331 | for (cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18332 | cartesian_trajectory_planner_B.b_kstr_ld <= |
| 18333 | cartesian_trajectory_planner_B.loop_ub_hb; |
| 18334 | cartesian_trajectory_planner_B.b_kstr_ld++) { |
| 18335 | jtype->data[cartesian_trajectory_planner_B.b_kstr_ld] = |
| 18336 | obj->JointInternal.NameInternal-> |
| 18337 | data[cartesian_trajectory_planner_B.b_kstr_ld]; |
| 18338 | } |
| 18339 | |
| 18340 | if (jtype->size[1] != 0) { |
| 18341 | cartesian_trajectory_planner_B.b_kstr_ld = jtype->size[0] * jtype->size[1]; |
| 18342 | jtype->size[0] = 1; |
| 18343 | jtype->size[1] = obj->JointInternal.NameInternal->size[1]; |
| 18344 | cartes_emxEnsureCapacity_char_T(jtype, |
| 18345 | cartesian_trajectory_planner_B.b_kstr_ld); |
| 18346 | cartesian_trajectory_planner_B.loop_ub_hb = obj-> |
| 18347 | JointInternal.NameInternal->size[0] * obj-> |
| 18348 | JointInternal.NameInternal->size[1] - 1; |
| 18349 | for (cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18350 | cartesian_trajectory_planner_B.b_kstr_ld <= |
| 18351 | cartesian_trajectory_planner_B.loop_ub_hb; |
| 18352 | cartesian_trajectory_planner_B.b_kstr_ld++) { |
| 18353 | jtype->data[cartesian_trajectory_planner_B.b_kstr_ld] = |
| 18354 | obj->JointInternal.NameInternal-> |
| 18355 | data[cartesian_trajectory_planner_B.b_kstr_ld]; |
| 18356 | } |
| 18357 | |
| 18358 | if (!newjoint->InTree) { |
| 18359 | cartesian_trajectory_planner_B.b_kstr_ld = newjoint->NameInternal->size[0] |
| 18360 | * newjoint->NameInternal->size[1]; |
| 18361 | newjoint->NameInternal->size[0] = 1; |
| 18362 | newjoint->NameInternal->size[1] = jtype->size[1]; |
| 18363 | cartes_emxEnsureCapacity_char_T(newjoint->NameInternal, |
| 18364 | cartesian_trajectory_planner_B.b_kstr_ld); |
| 18365 | cartesian_trajectory_planner_B.loop_ub_hb = jtype->size[0] * jtype->size[1] |
| 18366 | - 1; |
| 18367 | for (cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18368 | cartesian_trajectory_planner_B.b_kstr_ld <= |
| 18369 | cartesian_trajectory_planner_B.loop_ub_hb; |
| 18370 | cartesian_trajectory_planner_B.b_kstr_ld++) { |
| 18371 | newjoint->NameInternal->data[cartesian_trajectory_planner_B.b_kstr_ld] = |
| 18372 | jtype->data[cartesian_trajectory_planner_B.b_kstr_ld]; |
| 18373 | } |
| 18374 | } |
| 18375 | } |
| 18376 | |
| 18377 | cartesian_trajec_emxFree_char_T(&jtype); |
| 18378 | cartesian_trajec_emxInit_real_T(&obj_0, 1); |
| 18379 | cartesian_trajectory_planner_B.loop_ub_hb = |
| 18380 | obj->JointInternal.PositionLimitsInternal->size[0] * |
| 18381 | obj->JointInternal.PositionLimitsInternal->size[1]; |
| 18382 | cartesian_trajectory_planner_B.b_kstr_ld = newjoint-> |
| 18383 | PositionLimitsInternal->size[0] * newjoint->PositionLimitsInternal->size[1]; |
| 18384 | newjoint->PositionLimitsInternal->size[0] = |
| 18385 | obj->JointInternal.PositionLimitsInternal->size[0]; |
| 18386 | newjoint->PositionLimitsInternal->size[1] = 2; |
| 18387 | cartes_emxEnsureCapacity_real_T(newjoint->PositionLimitsInternal, |
| 18388 | cartesian_trajectory_planner_B.b_kstr_ld); |
| 18389 | cartesian_trajectory_planner_B.b_kstr_ld = obj_0->size[0]; |
| 18390 | obj_0->size[0] = cartesian_trajectory_planner_B.loop_ub_hb; |
| 18391 | cartes_emxEnsureCapacity_real_T(obj_0, |
| 18392 | cartesian_trajectory_planner_B.b_kstr_ld); |
| 18393 | for (cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18394 | cartesian_trajectory_planner_B.b_kstr_ld < |
| 18395 | cartesian_trajectory_planner_B.loop_ub_hb; |
| 18396 | cartesian_trajectory_planner_B.b_kstr_ld++) { |
| 18397 | obj_0->data[cartesian_trajectory_planner_B.b_kstr_ld] = |
| 18398 | obj->JointInternal.PositionLimitsInternal-> |
| 18399 | data[cartesian_trajectory_planner_B.b_kstr_ld]; |
| 18400 | } |
| 18401 | |
| 18402 | cartesian_trajectory_planner_B.loop_ub_hb = obj_0->size[0]; |
| 18403 | for (cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18404 | cartesian_trajectory_planner_B.b_kstr_ld < |
| 18405 | cartesian_trajectory_planner_B.loop_ub_hb; |
| 18406 | cartesian_trajectory_planner_B.b_kstr_ld++) { |
| 18407 | newjoint->PositionLimitsInternal-> |
| 18408 | data[cartesian_trajectory_planner_B.b_kstr_ld] = obj_0-> |
| 18409 | data[cartesian_trajectory_planner_B.b_kstr_ld]; |
| 18410 | } |
| 18411 | |
| 18412 | cartesian_trajec_emxFree_real_T(&obj_0); |
| 18413 | cartesian_trajec_emxInit_real_T(&obj_1, 1); |
| 18414 | cartesian_trajectory_planner_B.b_kstr_ld = obj_1->size[0]; |
| 18415 | obj_1->size[0] = obj->JointInternal.HomePositionInternal->size[0]; |
| 18416 | cartes_emxEnsureCapacity_real_T(obj_1, |
| 18417 | cartesian_trajectory_planner_B.b_kstr_ld); |
| 18418 | cartesian_trajectory_planner_B.loop_ub_hb = |
| 18419 | obj->JointInternal.HomePositionInternal->size[0]; |
| 18420 | for (cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18421 | cartesian_trajectory_planner_B.b_kstr_ld < |
| 18422 | cartesian_trajectory_planner_B.loop_ub_hb; |
| 18423 | cartesian_trajectory_planner_B.b_kstr_ld++) { |
| 18424 | obj_1->data[cartesian_trajectory_planner_B.b_kstr_ld] = |
| 18425 | obj->JointInternal.HomePositionInternal-> |
| 18426 | data[cartesian_trajectory_planner_B.b_kstr_ld]; |
| 18427 | } |
| 18428 | |
| 18429 | cartesian_trajectory_planner_B.b_kstr_ld = newjoint-> |
| 18430 | HomePositionInternal->size[0]; |
| 18431 | newjoint->HomePositionInternal->size[0] = obj_1->size[0]; |
| 18432 | cartes_emxEnsureCapacity_real_T(newjoint->HomePositionInternal, |
| 18433 | cartesian_trajectory_planner_B.b_kstr_ld); |
| 18434 | cartesian_trajectory_planner_B.loop_ub_hb = obj_1->size[0]; |
| 18435 | for (cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18436 | cartesian_trajectory_planner_B.b_kstr_ld < |
| 18437 | cartesian_trajectory_planner_B.loop_ub_hb; |
| 18438 | cartesian_trajectory_planner_B.b_kstr_ld++) { |
| 18439 | newjoint->HomePositionInternal-> |
| 18440 | data[cartesian_trajectory_planner_B.b_kstr_ld] = obj_1-> |
| 18441 | data[cartesian_trajectory_planner_B.b_kstr_ld]; |
| 18442 | } |
| 18443 | |
| 18444 | cartesian_trajec_emxFree_real_T(&obj_1); |
| 18445 | cartesian_trajectory_planner_B.obj_idx_0 = |
| 18446 | obj->JointInternal.JointAxisInternal[0]; |
| 18447 | cartesian_trajectory_planner_B.obj_idx_1 = |
| 18448 | obj->JointInternal.JointAxisInternal[1]; |
| 18449 | cartesian_trajectory_planner_B.obj_idx_2 = |
| 18450 | obj->JointInternal.JointAxisInternal[2]; |
| 18451 | newjoint->JointAxisInternal[0] = cartesian_trajectory_planner_B.obj_idx_0; |
| 18452 | newjoint->JointAxisInternal[1] = cartesian_trajectory_planner_B.obj_idx_1; |
| 18453 | newjoint->JointAxisInternal[2] = cartesian_trajectory_planner_B.obj_idx_2; |
| 18454 | cartesian_trajec_emxInit_real_T(&obj_2, 1); |
| 18455 | cartesian_trajectory_planner_B.loop_ub_hb = obj-> |
| 18456 | JointInternal.MotionSubspace->size[0] * obj-> |
| 18457 | JointInternal.MotionSubspace->size[1]; |
| 18458 | cartesian_trajectory_planner_B.b_kstr_ld = newjoint->MotionSubspace->size[0] * |
| 18459 | newjoint->MotionSubspace->size[1]; |
| 18460 | newjoint->MotionSubspace->size[0] = 6; |
| 18461 | newjoint->MotionSubspace->size[1] = obj->JointInternal.MotionSubspace->size[1]; |
| 18462 | cartes_emxEnsureCapacity_real_T(newjoint->MotionSubspace, |
| 18463 | cartesian_trajectory_planner_B.b_kstr_ld); |
| 18464 | cartesian_trajectory_planner_B.b_kstr_ld = obj_2->size[0]; |
| 18465 | obj_2->size[0] = cartesian_trajectory_planner_B.loop_ub_hb; |
| 18466 | cartes_emxEnsureCapacity_real_T(obj_2, |
| 18467 | cartesian_trajectory_planner_B.b_kstr_ld); |
| 18468 | for (cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18469 | cartesian_trajectory_planner_B.b_kstr_ld < |
| 18470 | cartesian_trajectory_planner_B.loop_ub_hb; |
| 18471 | cartesian_trajectory_planner_B.b_kstr_ld++) { |
| 18472 | obj_2->data[cartesian_trajectory_planner_B.b_kstr_ld] = |
| 18473 | obj->JointInternal.MotionSubspace-> |
| 18474 | data[cartesian_trajectory_planner_B.b_kstr_ld]; |
| 18475 | } |
| 18476 | |
| 18477 | cartesian_trajectory_planner_B.loop_ub_hb = obj_2->size[0]; |
| 18478 | for (cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18479 | cartesian_trajectory_planner_B.b_kstr_ld < |
| 18480 | cartesian_trajectory_planner_B.loop_ub_hb; |
| 18481 | cartesian_trajectory_planner_B.b_kstr_ld++) { |
| 18482 | newjoint->MotionSubspace->data[cartesian_trajectory_planner_B.b_kstr_ld] = |
| 18483 | obj_2->data[cartesian_trajectory_planner_B.b_kstr_ld]; |
| 18484 | } |
| 18485 | |
| 18486 | cartesian_trajec_emxFree_real_T(&obj_2); |
| 18487 | for (cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18488 | cartesian_trajectory_planner_B.b_kstr_ld < 16; |
| 18489 | cartesian_trajectory_planner_B.b_kstr_ld++) { |
| 18490 | cartesian_trajectory_planner_B.obj[cartesian_trajectory_planner_B.b_kstr_ld] |
| 18491 | = obj-> |
| 18492 | JointInternal.JointToParentTransform[cartesian_trajectory_planner_B.b_kstr_ld]; |
| 18493 | } |
| 18494 | |
| 18495 | for (cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18496 | cartesian_trajectory_planner_B.b_kstr_ld < 16; |
| 18497 | cartesian_trajectory_planner_B.b_kstr_ld++) { |
| 18498 | newjoint->JointToParentTransform[cartesian_trajectory_planner_B.b_kstr_ld] = |
| 18499 | cartesian_trajectory_planner_B.obj[cartesian_trajectory_planner_B.b_kstr_ld]; |
| 18500 | } |
| 18501 | |
| 18502 | for (cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18503 | cartesian_trajectory_planner_B.b_kstr_ld < 16; |
| 18504 | cartesian_trajectory_planner_B.b_kstr_ld++) { |
| 18505 | cartesian_trajectory_planner_B.obj[cartesian_trajectory_planner_B.b_kstr_ld] |
| 18506 | = obj-> |
| 18507 | JointInternal.ChildToJointTransform[cartesian_trajectory_planner_B.b_kstr_ld]; |
| 18508 | } |
| 18509 | |
| 18510 | for (cartesian_trajectory_planner_B.b_kstr_ld = 0; |
| 18511 | cartesian_trajectory_planner_B.b_kstr_ld < 16; |
| 18512 | cartesian_trajectory_planner_B.b_kstr_ld++) { |
| 18513 | newjoint->ChildToJointTransform[cartesian_trajectory_planner_B.b_kstr_ld] = |
| 18514 | cartesian_trajectory_planner_B.obj[cartesian_trajectory_planner_B.b_kstr_ld]; |
| 18515 | } |
| 18516 | |
| 18517 | iobj_2->JointInternal = newjoint; |
| 18518 | return newbody; |
| 18519 | } |
| 18520 | |
| 18521 | static void cartesian_RigidBodyTree_addBody(x_robotics_manip_internal_Rig_T *obj, |
| 18522 | v_robotics_manip_internal_Rig_T *bodyin, const emxArray_char_T_cartesian_tra_T |
| 18523 | *parentName, c_rigidBodyJoint_cartesian__a_T *iobj_0, |
| 18524 | c_rigidBodyJoint_cartesian__a_T *iobj_1, w_robotics_manip_internal_Rig_T |
| 18525 | *iobj_2) |
| 18526 | { |
| 18527 | w_robotics_manip_internal_Rig_T *body; |
| 18528 | c_rigidBodyJoint_cartesian__a_T *jnt; |
| 18529 | emxArray_char_T_cartesian_tra_T *bname; |
| 18530 | static const char_T tmp[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 18531 | |
| 18532 | boolean_T exitg1; |
| 18533 | int32_T exitg2; |
| 18534 | cartesian_trajec_emxInit_char_T(&bname, 2); |
| 18535 | cartesian_trajectory_planner_B.pid = -1.0; |
| 18536 | cartesian_trajectory_planner_B.b_kstr_ph = bname->size[0] * bname->size[1]; |
| 18537 | bname->size[0] = 1; |
| 18538 | bname->size[1] = obj->Base.NameInternal->size[1]; |
| 18539 | cartes_emxEnsureCapacity_char_T(bname, |
| 18540 | cartesian_trajectory_planner_B.b_kstr_ph); |
| 18541 | cartesian_trajectory_planner_B.loop_ub_ly = obj->Base.NameInternal->size[0] * |
| 18542 | obj->Base.NameInternal->size[1] - 1; |
| 18543 | for (cartesian_trajectory_planner_B.b_kstr_ph = 0; |
| 18544 | cartesian_trajectory_planner_B.b_kstr_ph <= |
| 18545 | cartesian_trajectory_planner_B.loop_ub_ly; |
| 18546 | cartesian_trajectory_planner_B.b_kstr_ph++) { |
| 18547 | bname->data[cartesian_trajectory_planner_B.b_kstr_ph] = |
| 18548 | obj->Base.NameInternal->data[cartesian_trajectory_planner_B.b_kstr_ph]; |
| 18549 | } |
| 18550 | |
| 18551 | if (cartesian_trajectory_pla_strcmp(bname, parentName)) { |
| 18552 | cartesian_trajectory_planner_B.pid = 0.0; |
| 18553 | } else { |
| 18554 | cartesian_trajectory_planner_B.b_index_a = obj->NumBodies; |
| 18555 | cartesian_trajectory_planner_B.b_i_po = 0; |
| 18556 | exitg1 = false; |
| 18557 | while ((!exitg1) && (cartesian_trajectory_planner_B.b_i_po <= static_cast< |
| 18558 | int32_T>(cartesian_trajectory_planner_B.b_index_a) - 1)) |
| 18559 | { |
| 18560 | body = obj->Bodies[cartesian_trajectory_planner_B.b_i_po]; |
| 18561 | cartesian_trajectory_planner_B.b_kstr_ph = bname->size[0] * bname->size[1]; |
| 18562 | bname->size[0] = 1; |
| 18563 | bname->size[1] = body->NameInternal->size[1]; |
| 18564 | cartes_emxEnsureCapacity_char_T(bname, |
| 18565 | cartesian_trajectory_planner_B.b_kstr_ph); |
| 18566 | cartesian_trajectory_planner_B.loop_ub_ly = body->NameInternal->size[0] * |
| 18567 | body->NameInternal->size[1] - 1; |
| 18568 | for (cartesian_trajectory_planner_B.b_kstr_ph = 0; |
| 18569 | cartesian_trajectory_planner_B.b_kstr_ph <= |
| 18570 | cartesian_trajectory_planner_B.loop_ub_ly; |
| 18571 | cartesian_trajectory_planner_B.b_kstr_ph++) { |
| 18572 | bname->data[cartesian_trajectory_planner_B.b_kstr_ph] = |
| 18573 | body->NameInternal->data[cartesian_trajectory_planner_B.b_kstr_ph]; |
| 18574 | } |
| 18575 | |
| 18576 | if (cartesian_trajectory_pla_strcmp(bname, parentName)) { |
| 18577 | cartesian_trajectory_planner_B.pid = static_cast<real_T> |
| 18578 | (cartesian_trajectory_planner_B.b_i_po) + 1.0; |
| 18579 | exitg1 = true; |
| 18580 | } else { |
| 18581 | cartesian_trajectory_planner_B.b_i_po++; |
| 18582 | } |
| 18583 | } |
| 18584 | } |
| 18585 | |
| 18586 | cartesian_trajectory_planner_B.b_index_a = obj->NumBodies + 1.0; |
| 18587 | body = cartesian_trajec_RigidBody_copy(bodyin, iobj_1, iobj_0, iobj_2); |
| 18588 | obj->Bodies[static_cast<int32_T>(cartesian_trajectory_planner_B.b_index_a) - 1] |
| 18589 | = body; |
| 18590 | body->Index = cartesian_trajectory_planner_B.b_index_a; |
| 18591 | body->ParentIndex = cartesian_trajectory_planner_B.pid; |
| 18592 | body->JointInternal->InTree = true; |
| 18593 | obj->NumBodies++; |
| 18594 | jnt = body->JointInternal; |
| 18595 | cartesian_trajectory_planner_B.b_kstr_ph = bname->size[0] * bname->size[1]; |
| 18596 | bname->size[0] = 1; |
| 18597 | bname->size[1] = jnt->Type->size[1]; |
| 18598 | cartes_emxEnsureCapacity_char_T(bname, |
| 18599 | cartesian_trajectory_planner_B.b_kstr_ph); |
| 18600 | cartesian_trajectory_planner_B.loop_ub_ly = jnt->Type->size[0] * jnt-> |
| 18601 | Type->size[1] - 1; |
| 18602 | for (cartesian_trajectory_planner_B.b_kstr_ph = 0; |
| 18603 | cartesian_trajectory_planner_B.b_kstr_ph <= |
| 18604 | cartesian_trajectory_planner_B.loop_ub_ly; |
| 18605 | cartesian_trajectory_planner_B.b_kstr_ph++) { |
| 18606 | bname->data[cartesian_trajectory_planner_B.b_kstr_ph] = jnt->Type-> |
| 18607 | data[cartesian_trajectory_planner_B.b_kstr_ph]; |
| 18608 | } |
| 18609 | |
| 18610 | for (cartesian_trajectory_planner_B.b_kstr_ph = 0; |
| 18611 | cartesian_trajectory_planner_B.b_kstr_ph < 5; |
| 18612 | cartesian_trajectory_planner_B.b_kstr_ph++) { |
| 18613 | cartesian_trajectory_planner_B.b_b[cartesian_trajectory_planner_B.b_kstr_ph] |
| 18614 | = tmp[cartesian_trajectory_planner_B.b_kstr_ph]; |
| 18615 | } |
| 18616 | |
| 18617 | cartesian_trajectory_planner_B.b_bool_fd = false; |
| 18618 | if (bname->size[1] == 5) { |
| 18619 | cartesian_trajectory_planner_B.b_kstr_ph = 1; |
| 18620 | do { |
| 18621 | exitg2 = 0; |
| 18622 | if (cartesian_trajectory_planner_B.b_kstr_ph - 1 < 5) { |
| 18623 | cartesian_trajectory_planner_B.loop_ub_ly = |
| 18624 | cartesian_trajectory_planner_B.b_kstr_ph - 1; |
| 18625 | if (bname->data[cartesian_trajectory_planner_B.loop_ub_ly] != |
| 18626 | cartesian_trajectory_planner_B.b_b[cartesian_trajectory_planner_B.loop_ub_ly]) |
| 18627 | { |
| 18628 | exitg2 = 1; |
| 18629 | } else { |
| 18630 | cartesian_trajectory_planner_B.b_kstr_ph++; |
| 18631 | } |
| 18632 | } else { |
| 18633 | cartesian_trajectory_planner_B.b_bool_fd = true; |
| 18634 | exitg2 = 1; |
| 18635 | } |
| 18636 | } while (exitg2 == 0); |
| 18637 | } |
| 18638 | |
| 18639 | cartesian_trajec_emxFree_char_T(&bname); |
| 18640 | if (!cartesian_trajectory_planner_B.b_bool_fd) { |
| 18641 | obj->NumNonFixedBodies++; |
| 18642 | jnt = body->JointInternal; |
| 18643 | cartesian_trajectory_planner_B.b_kstr_ph = static_cast<int32_T>(body->Index) |
| 18644 | - 1; |
| 18645 | obj->PositionDoFMap[cartesian_trajectory_planner_B.b_kstr_ph] = |
| 18646 | obj->PositionNumber + 1.0; |
| 18647 | obj->PositionDoFMap[cartesian_trajectory_planner_B.b_kstr_ph + 8] = |
| 18648 | obj->PositionNumber + jnt->PositionNumber; |
| 18649 | jnt = body->JointInternal; |
| 18650 | cartesian_trajectory_planner_B.b_kstr_ph = static_cast<int32_T>(body->Index) |
| 18651 | - 1; |
| 18652 | obj->VelocityDoFMap[cartesian_trajectory_planner_B.b_kstr_ph] = |
| 18653 | obj->VelocityNumber + 1.0; |
| 18654 | obj->VelocityDoFMap[cartesian_trajectory_planner_B.b_kstr_ph + 8] = |
| 18655 | obj->VelocityNumber + jnt->VelocityNumber; |
| 18656 | } else { |
| 18657 | cartesian_trajectory_planner_B.b_kstr_ph = static_cast<int32_T>(body->Index); |
| 18658 | obj->PositionDoFMap[cartesian_trajectory_planner_B.b_kstr_ph - 1] = 0.0; |
| 18659 | obj->PositionDoFMap[cartesian_trajectory_planner_B.b_kstr_ph + 7] = -1.0; |
| 18660 | cartesian_trajectory_planner_B.b_kstr_ph = static_cast<int32_T>(body->Index); |
| 18661 | obj->VelocityDoFMap[cartesian_trajectory_planner_B.b_kstr_ph - 1] = 0.0; |
| 18662 | obj->VelocityDoFMap[cartesian_trajectory_planner_B.b_kstr_ph + 7] = -1.0; |
| 18663 | } |
| 18664 | |
| 18665 | jnt = body->JointInternal; |
| 18666 | obj->PositionNumber += jnt->PositionNumber; |
| 18667 | jnt = body->JointInternal; |
| 18668 | obj->VelocityNumber += jnt->VelocityNumber; |
| 18669 | } |
| 18670 | |
| 18671 | static void inverseKinematics_set_RigidBody(b_inverseKinematics_cartesian_T *obj, |
| 18672 | y_robotics_manip_internal_Rig_T *rigidbodytree, |
| 18673 | w_robotics_manip_internal_Rig_T *iobj_0, w_robotics_manip_internal_Rig_T |
| 18674 | *iobj_1, w_robotics_manip_internal_Rig_T *iobj_2, |
| 18675 | w_robotics_manip_internal_Rig_T *iobj_3, w_robotics_manip_internal_Rig_T |
| 18676 | *iobj_4, w_robotics_manip_internal_Rig_T *iobj_5, |
| 18677 | w_robotics_manip_internal_Rig_T *iobj_6, w_robotics_manip_internal_Rig_T |
| 18678 | *iobj_7, w_robotics_manip_internal_Rig_T *iobj_8, |
| 18679 | w_robotics_manip_internal_Rig_T *iobj_9, w_robotics_manip_internal_Rig_T |
| 18680 | *iobj_10, w_robotics_manip_internal_Rig_T *iobj_11, |
| 18681 | w_robotics_manip_internal_Rig_T *iobj_12, w_robotics_manip_internal_Rig_T |
| 18682 | *iobj_13, w_robotics_manip_internal_Rig_T *iobj_14, |
| 18683 | c_rigidBodyJoint_cartesian__a_T *iobj_15, c_rigidBodyJoint_cartesian__a_T |
| 18684 | *iobj_16, c_rigidBodyJoint_cartesian__a_T *iobj_17, |
| 18685 | c_rigidBodyJoint_cartesian__a_T *iobj_18, c_rigidBodyJoint_cartesian__a_T |
| 18686 | *iobj_19, c_rigidBodyJoint_cartesian__a_T *iobj_20, |
| 18687 | c_rigidBodyJoint_cartesian__a_T *iobj_21, c_rigidBodyJoint_cartesian__a_T |
| 18688 | *iobj_22, c_rigidBodyJoint_cartesian__a_T *iobj_23, |
| 18689 | c_rigidBodyJoint_cartesian__a_T *iobj_24, c_rigidBodyJoint_cartesian__a_T |
| 18690 | *iobj_25, c_rigidBodyJoint_cartesian__a_T *iobj_26, |
| 18691 | c_rigidBodyJoint_cartesian__a_T *iobj_27, c_rigidBodyJoint_cartesian__a_T |
| 18692 | *iobj_28, c_rigidBodyJoint_cartesian__a_T *iobj_29, |
| 18693 | c_rigidBodyJoint_cartesian__a_T *iobj_30, c_rigidBodyJoint_cartesian__a_T |
| 18694 | *iobj_31, c_rigidBodyJoint_cartesian__a_T *iobj_32, |
| 18695 | c_rigidBodyJoint_cartesian__a_T *iobj_33, c_rigidBodyJoint_cartesian__a_T |
| 18696 | *iobj_34, c_rigidBodyJoint_cartesian__a_T *iobj_35, |
| 18697 | c_rigidBodyJoint_cartesian__a_T *iobj_36, c_rigidBodyJoint_cartesian__a_T |
| 18698 | *iobj_37, c_rigidBodyJoint_cartesian__a_T *iobj_38, |
| 18699 | c_rigidBodyJoint_cartesian__a_T *iobj_39, w_robotics_manip_internal_Rig_T |
| 18700 | *iobj_40, x_robotics_manip_internal_Rig_T *iobj_41) |
| 18701 | { |
| 18702 | x_robotics_manip_internal_Rig_T *newrobot; |
| 18703 | v_robotics_manip_internal_Rig_T *body; |
| 18704 | v_robotics_manip_internal_Rig_T *parent; |
| 18705 | emxArray_char_T_cartesian_tra_T *b_basename; |
| 18706 | w_robotics_manip_internal_Rig_T *body_0; |
| 18707 | c_rigidBodyJoint_cartesian__a_T *jnt; |
| 18708 | emxArray_char_T_cartesian_tra_T *bname; |
| 18709 | static const char_T tmp[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 18710 | |
| 18711 | boolean_T exitg1; |
| 18712 | int32_T exitg2; |
| 18713 | cartesian_trajec_emxInit_char_T(&b_basename, 2); |
| 18714 | newrobot = RigidBodyTree_RigidBodyTree_as(iobj_41, iobj_0, iobj_1, iobj_2, |
| 18715 | iobj_3, iobj_4, iobj_5, iobj_6, iobj_15, iobj_16, iobj_17, iobj_18, iobj_19, |
| 18716 | iobj_20, iobj_21, iobj_22, iobj_39, iobj_40); |
| 18717 | cartesian_trajectory_planner_B.b_kstr_g = b_basename->size[0] * |
| 18718 | b_basename->size[1]; |
| 18719 | b_basename->size[0] = 1; |
| 18720 | b_basename->size[1] = rigidbodytree->Base.NameInternal->size[1]; |
| 18721 | cartes_emxEnsureCapacity_char_T(b_basename, |
| 18722 | cartesian_trajectory_planner_B.b_kstr_g); |
| 18723 | cartesian_trajectory_planner_B.loop_ub_j = rigidbodytree-> |
| 18724 | Base.NameInternal->size[0] * rigidbodytree->Base.NameInternal->size[1] - 1; |
| 18725 | for (cartesian_trajectory_planner_B.b_kstr_g = 0; |
| 18726 | cartesian_trajectory_planner_B.b_kstr_g <= |
| 18727 | cartesian_trajectory_planner_B.loop_ub_j; |
| 18728 | cartesian_trajectory_planner_B.b_kstr_g++) { |
| 18729 | b_basename->data[cartesian_trajectory_planner_B.b_kstr_g] = |
| 18730 | rigidbodytree->Base.NameInternal-> |
| 18731 | data[cartesian_trajectory_planner_B.b_kstr_g]; |
| 18732 | } |
| 18733 | |
| 18734 | cartesian_trajec_emxInit_char_T(&bname, 2); |
| 18735 | cartesian_trajectory_planner_B.bid_c = -1.0; |
| 18736 | cartesian_trajectory_planner_B.b_kstr_g = bname->size[0] * bname->size[1]; |
| 18737 | bname->size[0] = 1; |
| 18738 | bname->size[1] = newrobot->Base.NameInternal->size[1]; |
| 18739 | cartes_emxEnsureCapacity_char_T(bname, cartesian_trajectory_planner_B.b_kstr_g); |
| 18740 | cartesian_trajectory_planner_B.loop_ub_j = newrobot->Base.NameInternal->size[0] |
| 18741 | * newrobot->Base.NameInternal->size[1] - 1; |
| 18742 | for (cartesian_trajectory_planner_B.b_kstr_g = 0; |
| 18743 | cartesian_trajectory_planner_B.b_kstr_g <= |
| 18744 | cartesian_trajectory_planner_B.loop_ub_j; |
| 18745 | cartesian_trajectory_planner_B.b_kstr_g++) { |
| 18746 | bname->data[cartesian_trajectory_planner_B.b_kstr_g] = |
| 18747 | newrobot->Base.NameInternal->data[cartesian_trajectory_planner_B.b_kstr_g]; |
| 18748 | } |
| 18749 | |
| 18750 | if (cartesian_trajectory_pla_strcmp(bname, b_basename)) { |
| 18751 | cartesian_trajectory_planner_B.bid_c = 0.0; |
| 18752 | } else { |
| 18753 | cartesian_trajectory_planner_B.b_index = newrobot->NumBodies; |
| 18754 | cartesian_trajectory_planner_B.b_i_ft = 0; |
| 18755 | exitg1 = false; |
| 18756 | while ((!exitg1) && (cartesian_trajectory_planner_B.b_i_ft <= |
| 18757 | static_cast<int32_T> |
| 18758 | (cartesian_trajectory_planner_B.b_index) - 1)) { |
| 18759 | body_0 = newrobot->Bodies[cartesian_trajectory_planner_B.b_i_ft]; |
| 18760 | cartesian_trajectory_planner_B.b_kstr_g = bname->size[0] * bname->size[1]; |
| 18761 | bname->size[0] = 1; |
| 18762 | bname->size[1] = body_0->NameInternal->size[1]; |
| 18763 | cartes_emxEnsureCapacity_char_T(bname, |
| 18764 | cartesian_trajectory_planner_B.b_kstr_g); |
| 18765 | cartesian_trajectory_planner_B.loop_ub_j = body_0->NameInternal->size[0] * |
| 18766 | body_0->NameInternal->size[1] - 1; |
| 18767 | for (cartesian_trajectory_planner_B.b_kstr_g = 0; |
| 18768 | cartesian_trajectory_planner_B.b_kstr_g <= |
| 18769 | cartesian_trajectory_planner_B.loop_ub_j; |
| 18770 | cartesian_trajectory_planner_B.b_kstr_g++) { |
| 18771 | bname->data[cartesian_trajectory_planner_B.b_kstr_g] = |
| 18772 | body_0->NameInternal->data[cartesian_trajectory_planner_B.b_kstr_g]; |
| 18773 | } |
| 18774 | |
| 18775 | if (cartesian_trajectory_pla_strcmp(bname, b_basename)) { |
| 18776 | cartesian_trajectory_planner_B.bid_c = static_cast<real_T> |
| 18777 | (cartesian_trajectory_planner_B.b_i_ft) + 1.0; |
| 18778 | exitg1 = true; |
| 18779 | } else { |
| 18780 | cartesian_trajectory_planner_B.b_i_ft++; |
| 18781 | } |
| 18782 | } |
| 18783 | } |
| 18784 | |
| 18785 | if ((!(cartesian_trajectory_planner_B.bid_c == 0.0)) && |
| 18786 | (cartesian_trajectory_planner_B.bid_c < 0.0)) { |
| 18787 | cartesian_trajectory_planner_B.b_kstr_g = newrobot->Base.NameInternal->size |
| 18788 | [0] * newrobot->Base.NameInternal->size[1]; |
| 18789 | newrobot->Base.NameInternal->size[0] = 1; |
| 18790 | newrobot->Base.NameInternal->size[1] = b_basename->size[1]; |
| 18791 | cartes_emxEnsureCapacity_char_T(newrobot->Base.NameInternal, |
| 18792 | cartesian_trajectory_planner_B.b_kstr_g); |
| 18793 | cartesian_trajectory_planner_B.loop_ub_j = b_basename->size[0] * |
| 18794 | b_basename->size[1] - 1; |
| 18795 | for (cartesian_trajectory_planner_B.b_kstr_g = 0; |
| 18796 | cartesian_trajectory_planner_B.b_kstr_g <= |
| 18797 | cartesian_trajectory_planner_B.loop_ub_j; |
| 18798 | cartesian_trajectory_planner_B.b_kstr_g++) { |
| 18799 | newrobot->Base.NameInternal->data[cartesian_trajectory_planner_B.b_kstr_g] |
| 18800 | = b_basename->data[cartesian_trajectory_planner_B.b_kstr_g]; |
| 18801 | } |
| 18802 | } |
| 18803 | |
| 18804 | if (1.0 <= rigidbodytree->NumBodies) { |
| 18805 | body = rigidbodytree->Bodies[0]; |
| 18806 | cartesian_trajectory_planner_B.bid_c = body->ParentIndex; |
| 18807 | if (cartesian_trajectory_planner_B.bid_c > 0.0) { |
| 18808 | parent = rigidbodytree->Bodies[static_cast<int32_T> |
| 18809 | (cartesian_trajectory_planner_B.bid_c) - 1]; |
| 18810 | } else { |
| 18811 | parent = &rigidbodytree->Base; |
| 18812 | } |
| 18813 | |
| 18814 | cartesian_trajectory_planner_B.b_kstr_g = bname->size[0] * bname->size[1]; |
| 18815 | bname->size[0] = 1; |
| 18816 | bname->size[1] = parent->NameInternal->size[1]; |
| 18817 | cartes_emxEnsureCapacity_char_T(bname, |
| 18818 | cartesian_trajectory_planner_B.b_kstr_g); |
| 18819 | cartesian_trajectory_planner_B.loop_ub_j = parent->NameInternal->size[0] * |
| 18820 | parent->NameInternal->size[1] - 1; |
| 18821 | for (cartesian_trajectory_planner_B.b_kstr_g = 0; |
| 18822 | cartesian_trajectory_planner_B.b_kstr_g <= |
| 18823 | cartesian_trajectory_planner_B.loop_ub_j; |
| 18824 | cartesian_trajectory_planner_B.b_kstr_g++) { |
| 18825 | bname->data[cartesian_trajectory_planner_B.b_kstr_g] = |
| 18826 | parent->NameInternal->data[cartesian_trajectory_planner_B.b_kstr_g]; |
| 18827 | } |
| 18828 | |
| 18829 | cartesian_RigidBodyTree_addBody(newrobot, body, bname, iobj_24, iobj_23, |
| 18830 | iobj_7); |
| 18831 | } |
| 18832 | |
| 18833 | if (2.0 <= rigidbodytree->NumBodies) { |
| 18834 | body = rigidbodytree->Bodies[1]; |
| 18835 | cartesian_trajectory_planner_B.bid_c = body->ParentIndex; |
| 18836 | if (cartesian_trajectory_planner_B.bid_c > 0.0) { |
| 18837 | parent = rigidbodytree->Bodies[static_cast<int32_T> |
| 18838 | (cartesian_trajectory_planner_B.bid_c) - 1]; |
| 18839 | } else { |
| 18840 | parent = &rigidbodytree->Base; |
| 18841 | } |
| 18842 | |
| 18843 | cartesian_trajectory_planner_B.b_kstr_g = bname->size[0] * bname->size[1]; |
| 18844 | bname->size[0] = 1; |
| 18845 | bname->size[1] = parent->NameInternal->size[1]; |
| 18846 | cartes_emxEnsureCapacity_char_T(bname, |
| 18847 | cartesian_trajectory_planner_B.b_kstr_g); |
| 18848 | cartesian_trajectory_planner_B.loop_ub_j = parent->NameInternal->size[0] * |
| 18849 | parent->NameInternal->size[1] - 1; |
| 18850 | for (cartesian_trajectory_planner_B.b_kstr_g = 0; |
| 18851 | cartesian_trajectory_planner_B.b_kstr_g <= |
| 18852 | cartesian_trajectory_planner_B.loop_ub_j; |
| 18853 | cartesian_trajectory_planner_B.b_kstr_g++) { |
| 18854 | bname->data[cartesian_trajectory_planner_B.b_kstr_g] = |
| 18855 | parent->NameInternal->data[cartesian_trajectory_planner_B.b_kstr_g]; |
| 18856 | } |
| 18857 | |
| 18858 | cartesian_RigidBodyTree_addBody(newrobot, body, bname, iobj_26, iobj_25, |
| 18859 | iobj_8); |
| 18860 | } |
| 18861 | |
| 18862 | if (3.0 <= rigidbodytree->NumBodies) { |
| 18863 | body = rigidbodytree->Bodies[2]; |
| 18864 | cartesian_trajectory_planner_B.bid_c = body->ParentIndex; |
| 18865 | if (cartesian_trajectory_planner_B.bid_c > 0.0) { |
| 18866 | parent = rigidbodytree->Bodies[static_cast<int32_T> |
| 18867 | (cartesian_trajectory_planner_B.bid_c) - 1]; |
| 18868 | } else { |
| 18869 | parent = &rigidbodytree->Base; |
| 18870 | } |
| 18871 | |
| 18872 | cartesian_trajectory_planner_B.b_kstr_g = bname->size[0] * bname->size[1]; |
| 18873 | bname->size[0] = 1; |
| 18874 | bname->size[1] = parent->NameInternal->size[1]; |
| 18875 | cartes_emxEnsureCapacity_char_T(bname, |
| 18876 | cartesian_trajectory_planner_B.b_kstr_g); |
| 18877 | cartesian_trajectory_planner_B.loop_ub_j = parent->NameInternal->size[0] * |
| 18878 | parent->NameInternal->size[1] - 1; |
| 18879 | for (cartesian_trajectory_planner_B.b_kstr_g = 0; |
| 18880 | cartesian_trajectory_planner_B.b_kstr_g <= |
| 18881 | cartesian_trajectory_planner_B.loop_ub_j; |
| 18882 | cartesian_trajectory_planner_B.b_kstr_g++) { |
| 18883 | bname->data[cartesian_trajectory_planner_B.b_kstr_g] = |
| 18884 | parent->NameInternal->data[cartesian_trajectory_planner_B.b_kstr_g]; |
| 18885 | } |
| 18886 | |
| 18887 | cartesian_RigidBodyTree_addBody(newrobot, body, bname, iobj_28, iobj_27, |
| 18888 | iobj_9); |
| 18889 | } |
| 18890 | |
| 18891 | if (4.0 <= rigidbodytree->NumBodies) { |
| 18892 | body = rigidbodytree->Bodies[3]; |
| 18893 | cartesian_trajectory_planner_B.bid_c = body->ParentIndex; |
| 18894 | if (cartesian_trajectory_planner_B.bid_c > 0.0) { |
| 18895 | parent = rigidbodytree->Bodies[static_cast<int32_T> |
| 18896 | (cartesian_trajectory_planner_B.bid_c) - 1]; |
| 18897 | } else { |
| 18898 | parent = &rigidbodytree->Base; |
| 18899 | } |
| 18900 | |
| 18901 | cartesian_trajectory_planner_B.b_kstr_g = bname->size[0] * bname->size[1]; |
| 18902 | bname->size[0] = 1; |
| 18903 | bname->size[1] = parent->NameInternal->size[1]; |
| 18904 | cartes_emxEnsureCapacity_char_T(bname, |
| 18905 | cartesian_trajectory_planner_B.b_kstr_g); |
| 18906 | cartesian_trajectory_planner_B.loop_ub_j = parent->NameInternal->size[0] * |
| 18907 | parent->NameInternal->size[1] - 1; |
| 18908 | for (cartesian_trajectory_planner_B.b_kstr_g = 0; |
| 18909 | cartesian_trajectory_planner_B.b_kstr_g <= |
| 18910 | cartesian_trajectory_planner_B.loop_ub_j; |
| 18911 | cartesian_trajectory_planner_B.b_kstr_g++) { |
| 18912 | bname->data[cartesian_trajectory_planner_B.b_kstr_g] = |
| 18913 | parent->NameInternal->data[cartesian_trajectory_planner_B.b_kstr_g]; |
| 18914 | } |
| 18915 | |
| 18916 | cartesian_RigidBodyTree_addBody(newrobot, body, bname, iobj_30, iobj_29, |
| 18917 | iobj_10); |
| 18918 | } |
| 18919 | |
| 18920 | if (5.0 <= rigidbodytree->NumBodies) { |
| 18921 | body = rigidbodytree->Bodies[4]; |
| 18922 | cartesian_trajectory_planner_B.bid_c = body->ParentIndex; |
| 18923 | if (cartesian_trajectory_planner_B.bid_c > 0.0) { |
| 18924 | parent = rigidbodytree->Bodies[static_cast<int32_T> |
| 18925 | (cartesian_trajectory_planner_B.bid_c) - 1]; |
| 18926 | } else { |
| 18927 | parent = &rigidbodytree->Base; |
| 18928 | } |
| 18929 | |
| 18930 | cartesian_trajectory_planner_B.b_kstr_g = bname->size[0] * bname->size[1]; |
| 18931 | bname->size[0] = 1; |
| 18932 | bname->size[1] = parent->NameInternal->size[1]; |
| 18933 | cartes_emxEnsureCapacity_char_T(bname, |
| 18934 | cartesian_trajectory_planner_B.b_kstr_g); |
| 18935 | cartesian_trajectory_planner_B.loop_ub_j = parent->NameInternal->size[0] * |
| 18936 | parent->NameInternal->size[1] - 1; |
| 18937 | for (cartesian_trajectory_planner_B.b_kstr_g = 0; |
| 18938 | cartesian_trajectory_planner_B.b_kstr_g <= |
| 18939 | cartesian_trajectory_planner_B.loop_ub_j; |
| 18940 | cartesian_trajectory_planner_B.b_kstr_g++) { |
| 18941 | bname->data[cartesian_trajectory_planner_B.b_kstr_g] = |
| 18942 | parent->NameInternal->data[cartesian_trajectory_planner_B.b_kstr_g]; |
| 18943 | } |
| 18944 | |
| 18945 | cartesian_RigidBodyTree_addBody(newrobot, body, bname, iobj_32, iobj_31, |
| 18946 | iobj_11); |
| 18947 | } |
| 18948 | |
| 18949 | if (6.0 <= rigidbodytree->NumBodies) { |
| 18950 | body = rigidbodytree->Bodies[5]; |
| 18951 | cartesian_trajectory_planner_B.bid_c = body->ParentIndex; |
| 18952 | if (cartesian_trajectory_planner_B.bid_c > 0.0) { |
| 18953 | parent = rigidbodytree->Bodies[static_cast<int32_T> |
| 18954 | (cartesian_trajectory_planner_B.bid_c) - 1]; |
| 18955 | } else { |
| 18956 | parent = &rigidbodytree->Base; |
| 18957 | } |
| 18958 | |
| 18959 | cartesian_trajectory_planner_B.b_kstr_g = bname->size[0] * bname->size[1]; |
| 18960 | bname->size[0] = 1; |
| 18961 | bname->size[1] = parent->NameInternal->size[1]; |
| 18962 | cartes_emxEnsureCapacity_char_T(bname, |
| 18963 | cartesian_trajectory_planner_B.b_kstr_g); |
| 18964 | cartesian_trajectory_planner_B.loop_ub_j = parent->NameInternal->size[0] * |
| 18965 | parent->NameInternal->size[1] - 1; |
| 18966 | for (cartesian_trajectory_planner_B.b_kstr_g = 0; |
| 18967 | cartesian_trajectory_planner_B.b_kstr_g <= |
| 18968 | cartesian_trajectory_planner_B.loop_ub_j; |
| 18969 | cartesian_trajectory_planner_B.b_kstr_g++) { |
| 18970 | bname->data[cartesian_trajectory_planner_B.b_kstr_g] = |
| 18971 | parent->NameInternal->data[cartesian_trajectory_planner_B.b_kstr_g]; |
| 18972 | } |
| 18973 | |
| 18974 | cartesian_RigidBodyTree_addBody(newrobot, body, bname, iobj_34, iobj_33, |
| 18975 | iobj_12); |
| 18976 | } |
| 18977 | |
| 18978 | if (7.0 <= rigidbodytree->NumBodies) { |
| 18979 | body = rigidbodytree->Bodies[6]; |
| 18980 | cartesian_trajectory_planner_B.bid_c = body->ParentIndex; |
| 18981 | if (cartesian_trajectory_planner_B.bid_c > 0.0) { |
| 18982 | parent = rigidbodytree->Bodies[static_cast<int32_T> |
| 18983 | (cartesian_trajectory_planner_B.bid_c) - 1]; |
| 18984 | } else { |
| 18985 | parent = &rigidbodytree->Base; |
| 18986 | } |
| 18987 | |
| 18988 | cartesian_trajectory_planner_B.b_kstr_g = bname->size[0] * bname->size[1]; |
| 18989 | bname->size[0] = 1; |
| 18990 | bname->size[1] = parent->NameInternal->size[1]; |
| 18991 | cartes_emxEnsureCapacity_char_T(bname, |
| 18992 | cartesian_trajectory_planner_B.b_kstr_g); |
| 18993 | cartesian_trajectory_planner_B.loop_ub_j = parent->NameInternal->size[0] * |
| 18994 | parent->NameInternal->size[1] - 1; |
| 18995 | for (cartesian_trajectory_planner_B.b_kstr_g = 0; |
| 18996 | cartesian_trajectory_planner_B.b_kstr_g <= |
| 18997 | cartesian_trajectory_planner_B.loop_ub_j; |
| 18998 | cartesian_trajectory_planner_B.b_kstr_g++) { |
| 18999 | bname->data[cartesian_trajectory_planner_B.b_kstr_g] = |
| 19000 | parent->NameInternal->data[cartesian_trajectory_planner_B.b_kstr_g]; |
| 19001 | } |
| 19002 | |
| 19003 | cartesian_trajectory_planner_B.bid_c = -1.0; |
| 19004 | cartesian_trajectory_planner_B.b_kstr_g = b_basename->size[0] * |
| 19005 | b_basename->size[1]; |
| 19006 | b_basename->size[0] = 1; |
| 19007 | b_basename->size[1] = newrobot->Base.NameInternal->size[1]; |
| 19008 | cartes_emxEnsureCapacity_char_T(b_basename, |
| 19009 | cartesian_trajectory_planner_B.b_kstr_g); |
| 19010 | cartesian_trajectory_planner_B.loop_ub_j = newrobot->Base.NameInternal-> |
| 19011 | size[0] * newrobot->Base.NameInternal->size[1] - 1; |
| 19012 | for (cartesian_trajectory_planner_B.b_kstr_g = 0; |
| 19013 | cartesian_trajectory_planner_B.b_kstr_g <= |
| 19014 | cartesian_trajectory_planner_B.loop_ub_j; |
| 19015 | cartesian_trajectory_planner_B.b_kstr_g++) { |
| 19016 | b_basename->data[cartesian_trajectory_planner_B.b_kstr_g] = |
| 19017 | newrobot->Base.NameInternal-> |
| 19018 | data[cartesian_trajectory_planner_B.b_kstr_g]; |
| 19019 | } |
| 19020 | |
| 19021 | if (cartesian_trajectory_pla_strcmp(b_basename, bname)) { |
| 19022 | cartesian_trajectory_planner_B.bid_c = 0.0; |
| 19023 | } else { |
| 19024 | cartesian_trajectory_planner_B.b_index = newrobot->NumBodies; |
| 19025 | cartesian_trajectory_planner_B.b_i_ft = 0; |
| 19026 | exitg1 = false; |
| 19027 | while ((!exitg1) && (cartesian_trajectory_planner_B.b_i_ft <= |
| 19028 | static_cast<int32_T> |
| 19029 | (cartesian_trajectory_planner_B.b_index) - 1)) { |
| 19030 | body_0 = newrobot->Bodies[cartesian_trajectory_planner_B.b_i_ft]; |
| 19031 | cartesian_trajectory_planner_B.b_kstr_g = b_basename->size[0] * |
| 19032 | b_basename->size[1]; |
| 19033 | b_basename->size[0] = 1; |
| 19034 | b_basename->size[1] = body_0->NameInternal->size[1]; |
| 19035 | cartes_emxEnsureCapacity_char_T(b_basename, |
| 19036 | cartesian_trajectory_planner_B.b_kstr_g); |
| 19037 | cartesian_trajectory_planner_B.loop_ub_j = body_0->NameInternal->size[0] |
| 19038 | * body_0->NameInternal->size[1] - 1; |
| 19039 | for (cartesian_trajectory_planner_B.b_kstr_g = 0; |
| 19040 | cartesian_trajectory_planner_B.b_kstr_g <= |
| 19041 | cartesian_trajectory_planner_B.loop_ub_j; |
| 19042 | cartesian_trajectory_planner_B.b_kstr_g++) { |
| 19043 | b_basename->data[cartesian_trajectory_planner_B.b_kstr_g] = |
| 19044 | body_0->NameInternal->data[cartesian_trajectory_planner_B.b_kstr_g]; |
| 19045 | } |
| 19046 | |
| 19047 | if (cartesian_trajectory_pla_strcmp(b_basename, bname)) { |
| 19048 | cartesian_trajectory_planner_B.bid_c = static_cast<real_T> |
| 19049 | (cartesian_trajectory_planner_B.b_i_ft) + 1.0; |
| 19050 | exitg1 = true; |
| 19051 | } else { |
| 19052 | cartesian_trajectory_planner_B.b_i_ft++; |
| 19053 | } |
| 19054 | } |
| 19055 | } |
| 19056 | |
| 19057 | cartesian_trajectory_planner_B.b_index = newrobot->NumBodies + 1.0; |
| 19058 | body_0 = cartesian_trajec_RigidBody_copy(body, iobj_35, iobj_36, iobj_13); |
| 19059 | newrobot->Bodies[static_cast<int32_T>(cartesian_trajectory_planner_B.b_index) |
| 19060 | - 1] = body_0; |
| 19061 | body_0->Index = cartesian_trajectory_planner_B.b_index; |
| 19062 | body_0->ParentIndex = cartesian_trajectory_planner_B.bid_c; |
| 19063 | body_0->JointInternal->InTree = true; |
| 19064 | newrobot->NumBodies++; |
| 19065 | jnt = body_0->JointInternal; |
| 19066 | cartesian_trajectory_planner_B.b_kstr_g = bname->size[0] * bname->size[1]; |
| 19067 | bname->size[0] = 1; |
| 19068 | bname->size[1] = jnt->Type->size[1]; |
| 19069 | cartes_emxEnsureCapacity_char_T(bname, |
| 19070 | cartesian_trajectory_planner_B.b_kstr_g); |
| 19071 | cartesian_trajectory_planner_B.loop_ub_j = jnt->Type->size[0] * jnt-> |
| 19072 | Type->size[1] - 1; |
| 19073 | for (cartesian_trajectory_planner_B.b_kstr_g = 0; |
| 19074 | cartesian_trajectory_planner_B.b_kstr_g <= |
| 19075 | cartesian_trajectory_planner_B.loop_ub_j; |
| 19076 | cartesian_trajectory_planner_B.b_kstr_g++) { |
| 19077 | bname->data[cartesian_trajectory_planner_B.b_kstr_g] = jnt->Type-> |
| 19078 | data[cartesian_trajectory_planner_B.b_kstr_g]; |
| 19079 | } |
| 19080 | |
| 19081 | for (cartesian_trajectory_planner_B.b_kstr_g = 0; |
| 19082 | cartesian_trajectory_planner_B.b_kstr_g < 5; |
| 19083 | cartesian_trajectory_planner_B.b_kstr_g++) { |
| 19084 | cartesian_trajectory_planner_B.b_js[cartesian_trajectory_planner_B.b_kstr_g] |
| 19085 | = tmp[cartesian_trajectory_planner_B.b_kstr_g]; |
| 19086 | } |
| 19087 | |
| 19088 | cartesian_trajectory_planner_B.b_bool_p = false; |
| 19089 | if (bname->size[1] == 5) { |
| 19090 | cartesian_trajectory_planner_B.b_kstr_g = 1; |
| 19091 | do { |
| 19092 | exitg2 = 0; |
| 19093 | if (cartesian_trajectory_planner_B.b_kstr_g - 1 < 5) { |
| 19094 | cartesian_trajectory_planner_B.loop_ub_j = |
| 19095 | cartesian_trajectory_planner_B.b_kstr_g - 1; |
| 19096 | if (bname->data[cartesian_trajectory_planner_B.loop_ub_j] != |
| 19097 | cartesian_trajectory_planner_B.b_js[cartesian_trajectory_planner_B.loop_ub_j]) |
| 19098 | { |
| 19099 | exitg2 = 1; |
| 19100 | } else { |
| 19101 | cartesian_trajectory_planner_B.b_kstr_g++; |
| 19102 | } |
| 19103 | } else { |
| 19104 | cartesian_trajectory_planner_B.b_bool_p = true; |
| 19105 | exitg2 = 1; |
| 19106 | } |
| 19107 | } while (exitg2 == 0); |
| 19108 | } |
| 19109 | |
| 19110 | if (!cartesian_trajectory_planner_B.b_bool_p) { |
| 19111 | newrobot->NumNonFixedBodies++; |
| 19112 | jnt = body_0->JointInternal; |
| 19113 | cartesian_trajectory_planner_B.b_kstr_g = static_cast<int32_T> |
| 19114 | (body_0->Index) - 1; |
| 19115 | newrobot->PositionDoFMap[cartesian_trajectory_planner_B.b_kstr_g] = |
| 19116 | newrobot->PositionNumber + 1.0; |
| 19117 | newrobot->PositionDoFMap[cartesian_trajectory_planner_B.b_kstr_g + 8] = |
| 19118 | newrobot->PositionNumber + jnt->PositionNumber; |
| 19119 | jnt = body_0->JointInternal; |
| 19120 | cartesian_trajectory_planner_B.b_kstr_g = static_cast<int32_T> |
| 19121 | (body_0->Index) - 1; |
| 19122 | newrobot->VelocityDoFMap[cartesian_trajectory_planner_B.b_kstr_g] = |
| 19123 | newrobot->VelocityNumber + 1.0; |
| 19124 | newrobot->VelocityDoFMap[cartesian_trajectory_planner_B.b_kstr_g + 8] = |
| 19125 | newrobot->VelocityNumber + jnt->VelocityNumber; |
| 19126 | } else { |
| 19127 | cartesian_trajectory_planner_B.b_kstr_g = static_cast<int32_T> |
| 19128 | (body_0->Index); |
| 19129 | newrobot->PositionDoFMap[cartesian_trajectory_planner_B.b_kstr_g - 1] = |
| 19130 | 0.0; |
| 19131 | newrobot->PositionDoFMap[cartesian_trajectory_planner_B.b_kstr_g + 7] = |
| 19132 | -1.0; |
| 19133 | cartesian_trajectory_planner_B.b_kstr_g = static_cast<int32_T> |
| 19134 | (body_0->Index); |
| 19135 | newrobot->VelocityDoFMap[cartesian_trajectory_planner_B.b_kstr_g - 1] = |
| 19136 | 0.0; |
| 19137 | newrobot->VelocityDoFMap[cartesian_trajectory_planner_B.b_kstr_g + 7] = |
| 19138 | -1.0; |
| 19139 | } |
| 19140 | |
| 19141 | jnt = body_0->JointInternal; |
| 19142 | newrobot->PositionNumber += jnt->PositionNumber; |
| 19143 | jnt = body_0->JointInternal; |
| 19144 | newrobot->VelocityNumber += jnt->VelocityNumber; |
| 19145 | } |
| 19146 | |
| 19147 | if (8.0 <= rigidbodytree->NumBodies) { |
| 19148 | body = rigidbodytree->Bodies[7]; |
| 19149 | cartesian_trajectory_planner_B.bid_c = body->ParentIndex; |
| 19150 | if (cartesian_trajectory_planner_B.bid_c > 0.0) { |
| 19151 | parent = rigidbodytree->Bodies[static_cast<int32_T> |
| 19152 | (cartesian_trajectory_planner_B.bid_c) - 1]; |
| 19153 | } else { |
| 19154 | parent = &rigidbodytree->Base; |
| 19155 | } |
| 19156 | |
| 19157 | cartesian_trajectory_planner_B.b_kstr_g = bname->size[0] * bname->size[1]; |
| 19158 | bname->size[0] = 1; |
| 19159 | bname->size[1] = parent->NameInternal->size[1]; |
| 19160 | cartes_emxEnsureCapacity_char_T(bname, |
| 19161 | cartesian_trajectory_planner_B.b_kstr_g); |
| 19162 | cartesian_trajectory_planner_B.loop_ub_j = parent->NameInternal->size[0] * |
| 19163 | parent->NameInternal->size[1] - 1; |
| 19164 | for (cartesian_trajectory_planner_B.b_kstr_g = 0; |
| 19165 | cartesian_trajectory_planner_B.b_kstr_g <= |
| 19166 | cartesian_trajectory_planner_B.loop_ub_j; |
| 19167 | cartesian_trajectory_planner_B.b_kstr_g++) { |
| 19168 | bname->data[cartesian_trajectory_planner_B.b_kstr_g] = |
| 19169 | parent->NameInternal->data[cartesian_trajectory_planner_B.b_kstr_g]; |
| 19170 | } |
| 19171 | |
| 19172 | cartesian_trajectory_planner_B.bid_c = -1.0; |
| 19173 | cartesian_trajectory_planner_B.b_kstr_g = b_basename->size[0] * |
| 19174 | b_basename->size[1]; |
| 19175 | b_basename->size[0] = 1; |
| 19176 | b_basename->size[1] = newrobot->Base.NameInternal->size[1]; |
| 19177 | cartes_emxEnsureCapacity_char_T(b_basename, |
| 19178 | cartesian_trajectory_planner_B.b_kstr_g); |
| 19179 | cartesian_trajectory_planner_B.loop_ub_j = newrobot->Base.NameInternal-> |
| 19180 | size[0] * newrobot->Base.NameInternal->size[1] - 1; |
| 19181 | for (cartesian_trajectory_planner_B.b_kstr_g = 0; |
| 19182 | cartesian_trajectory_planner_B.b_kstr_g <= |
| 19183 | cartesian_trajectory_planner_B.loop_ub_j; |
| 19184 | cartesian_trajectory_planner_B.b_kstr_g++) { |
| 19185 | b_basename->data[cartesian_trajectory_planner_B.b_kstr_g] = |
| 19186 | newrobot->Base.NameInternal-> |
| 19187 | data[cartesian_trajectory_planner_B.b_kstr_g]; |
| 19188 | } |
| 19189 | |
| 19190 | if (cartesian_trajectory_pla_strcmp(b_basename, bname)) { |
| 19191 | cartesian_trajectory_planner_B.bid_c = 0.0; |
| 19192 | } else { |
| 19193 | cartesian_trajectory_planner_B.b_index = newrobot->NumBodies; |
| 19194 | cartesian_trajectory_planner_B.b_i_ft = 0; |
| 19195 | exitg1 = false; |
| 19196 | while ((!exitg1) && (cartesian_trajectory_planner_B.b_i_ft <= static_cast< |
| 19197 | int32_T>(cartesian_trajectory_planner_B.b_index) - 1)) |
| 19198 | { |
| 19199 | body_0 = newrobot->Bodies[cartesian_trajectory_planner_B.b_i_ft]; |
| 19200 | cartesian_trajectory_planner_B.b_kstr_g = b_basename->size[0] * |
| 19201 | b_basename->size[1]; |
| 19202 | b_basename->size[0] = 1; |
| 19203 | b_basename->size[1] = body_0->NameInternal->size[1]; |
| 19204 | cartes_emxEnsureCapacity_char_T(b_basename, |
| 19205 | cartesian_trajectory_planner_B.b_kstr_g); |
| 19206 | cartesian_trajectory_planner_B.loop_ub_j = body_0->NameInternal->size[0] |
| 19207 | * body_0->NameInternal->size[1] - 1; |
| 19208 | for (cartesian_trajectory_planner_B.b_kstr_g = 0; |
| 19209 | cartesian_trajectory_planner_B.b_kstr_g <= |
| 19210 | cartesian_trajectory_planner_B.loop_ub_j; |
| 19211 | cartesian_trajectory_planner_B.b_kstr_g++) { |
| 19212 | b_basename->data[cartesian_trajectory_planner_B.b_kstr_g] = |
| 19213 | body_0->NameInternal->data[cartesian_trajectory_planner_B.b_kstr_g]; |
| 19214 | } |
| 19215 | |
| 19216 | if (cartesian_trajectory_pla_strcmp(b_basename, bname)) { |
| 19217 | cartesian_trajectory_planner_B.bid_c = static_cast<real_T> |
| 19218 | (cartesian_trajectory_planner_B.b_i_ft) + 1.0; |
| 19219 | exitg1 = true; |
| 19220 | } else { |
| 19221 | cartesian_trajectory_planner_B.b_i_ft++; |
| 19222 | } |
| 19223 | } |
| 19224 | } |
| 19225 | |
| 19226 | cartesian_trajectory_planner_B.b_index = newrobot->NumBodies + 1.0; |
| 19227 | body_0 = cartesian_trajec_RigidBody_copy(body, iobj_37, iobj_38, iobj_14); |
| 19228 | newrobot->Bodies[static_cast<int32_T>(cartesian_trajectory_planner_B.b_index) |
| 19229 | - 1] = body_0; |
| 19230 | body_0->Index = cartesian_trajectory_planner_B.b_index; |
| 19231 | body_0->ParentIndex = cartesian_trajectory_planner_B.bid_c; |
| 19232 | body_0->JointInternal->InTree = true; |
| 19233 | newrobot->NumBodies++; |
| 19234 | jnt = body_0->JointInternal; |
| 19235 | cartesian_trajectory_planner_B.b_kstr_g = bname->size[0] * bname->size[1]; |
| 19236 | bname->size[0] = 1; |
| 19237 | bname->size[1] = jnt->Type->size[1]; |
| 19238 | cartes_emxEnsureCapacity_char_T(bname, |
| 19239 | cartesian_trajectory_planner_B.b_kstr_g); |
| 19240 | cartesian_trajectory_planner_B.loop_ub_j = jnt->Type->size[0] * jnt-> |
| 19241 | Type->size[1] - 1; |
| 19242 | for (cartesian_trajectory_planner_B.b_kstr_g = 0; |
| 19243 | cartesian_trajectory_planner_B.b_kstr_g <= |
| 19244 | cartesian_trajectory_planner_B.loop_ub_j; |
| 19245 | cartesian_trajectory_planner_B.b_kstr_g++) { |
| 19246 | bname->data[cartesian_trajectory_planner_B.b_kstr_g] = jnt->Type-> |
| 19247 | data[cartesian_trajectory_planner_B.b_kstr_g]; |
| 19248 | } |
| 19249 | |
| 19250 | for (cartesian_trajectory_planner_B.b_kstr_g = 0; |
| 19251 | cartesian_trajectory_planner_B.b_kstr_g < 5; |
| 19252 | cartesian_trajectory_planner_B.b_kstr_g++) { |
| 19253 | cartesian_trajectory_planner_B.b_js[cartesian_trajectory_planner_B.b_kstr_g] |
| 19254 | = tmp[cartesian_trajectory_planner_B.b_kstr_g]; |
| 19255 | } |
| 19256 | |
| 19257 | cartesian_trajectory_planner_B.b_bool_p = false; |
| 19258 | if (bname->size[1] == 5) { |
| 19259 | cartesian_trajectory_planner_B.b_kstr_g = 1; |
| 19260 | do { |
| 19261 | exitg2 = 0; |
| 19262 | if (cartesian_trajectory_planner_B.b_kstr_g - 1 < 5) { |
| 19263 | cartesian_trajectory_planner_B.loop_ub_j = |
| 19264 | cartesian_trajectory_planner_B.b_kstr_g - 1; |
| 19265 | if (bname->data[cartesian_trajectory_planner_B.loop_ub_j] != |
| 19266 | cartesian_trajectory_planner_B.b_js[cartesian_trajectory_planner_B.loop_ub_j]) |
| 19267 | { |
| 19268 | exitg2 = 1; |
| 19269 | } else { |
| 19270 | cartesian_trajectory_planner_B.b_kstr_g++; |
| 19271 | } |
| 19272 | } else { |
| 19273 | cartesian_trajectory_planner_B.b_bool_p = true; |
| 19274 | exitg2 = 1; |
| 19275 | } |
| 19276 | } while (exitg2 == 0); |
| 19277 | } |
| 19278 | |
| 19279 | if (!cartesian_trajectory_planner_B.b_bool_p) { |
| 19280 | newrobot->NumNonFixedBodies++; |
| 19281 | jnt = body_0->JointInternal; |
| 19282 | cartesian_trajectory_planner_B.b_kstr_g = static_cast<int32_T> |
| 19283 | (body_0->Index) - 1; |
| 19284 | newrobot->PositionDoFMap[cartesian_trajectory_planner_B.b_kstr_g] = |
| 19285 | newrobot->PositionNumber + 1.0; |
| 19286 | newrobot->PositionDoFMap[cartesian_trajectory_planner_B.b_kstr_g + 8] = |
| 19287 | newrobot->PositionNumber + jnt->PositionNumber; |
| 19288 | jnt = body_0->JointInternal; |
| 19289 | cartesian_trajectory_planner_B.b_kstr_g = static_cast<int32_T> |
| 19290 | (body_0->Index) - 1; |
| 19291 | newrobot->VelocityDoFMap[cartesian_trajectory_planner_B.b_kstr_g] = |
| 19292 | newrobot->VelocityNumber + 1.0; |
| 19293 | newrobot->VelocityDoFMap[cartesian_trajectory_planner_B.b_kstr_g + 8] = |
| 19294 | newrobot->VelocityNumber + jnt->VelocityNumber; |
| 19295 | } else { |
| 19296 | cartesian_trajectory_planner_B.b_kstr_g = static_cast<int32_T> |
| 19297 | (body_0->Index); |
| 19298 | newrobot->PositionDoFMap[cartesian_trajectory_planner_B.b_kstr_g - 1] = |
| 19299 | 0.0; |
| 19300 | newrobot->PositionDoFMap[cartesian_trajectory_planner_B.b_kstr_g + 7] = |
| 19301 | -1.0; |
| 19302 | cartesian_trajectory_planner_B.b_kstr_g = static_cast<int32_T> |
| 19303 | (body_0->Index); |
| 19304 | newrobot->VelocityDoFMap[cartesian_trajectory_planner_B.b_kstr_g - 1] = |
| 19305 | 0.0; |
| 19306 | newrobot->VelocityDoFMap[cartesian_trajectory_planner_B.b_kstr_g + 7] = |
| 19307 | -1.0; |
| 19308 | } |
| 19309 | |
| 19310 | jnt = body_0->JointInternal; |
| 19311 | newrobot->PositionNumber += jnt->PositionNumber; |
| 19312 | jnt = body_0->JointInternal; |
| 19313 | newrobot->VelocityNumber += jnt->VelocityNumber; |
| 19314 | } |
| 19315 | |
| 19316 | cartesian_trajec_emxFree_char_T(&bname); |
| 19317 | cartesian_trajec_emxFree_char_T(&b_basename); |
| 19318 | obj->RigidBodyTreeInternal = newrobot; |
| 19319 | } |
| 19320 | |
| 19321 | static h_robotics_core_internal_Damp_T *DampedBFGSwGradientProjection_D |
| 19322 | (h_robotics_core_internal_Damp_T *obj) |
| 19323 | { |
| 19324 | h_robotics_core_internal_Damp_T *b_obj; |
| 19325 | int32_T i; |
| 19326 | static const char_T tmp[22] = { 'B', 'F', 'G', 'S', 'G', 'r', 'a', 'd', 'i', |
| 19327 | 'e', 'n', 't', 'P', 'r', 'o', 'j', 'e', 'c', 't', 'i', 'o', 'n' }; |
| 19328 | |
| 19329 | b_obj = obj; |
| 19330 | obj->MaxNumIteration = 1500.0; |
| 19331 | obj->MaxTime = 10.0; |
| 19332 | obj->GradientTolerance = 1.0E-7; |
| 19333 | obj->SolutionTolerance = 1.0E-6; |
| 19334 | obj->ArmijoRuleBeta = 0.4; |
| 19335 | obj->ArmijoRuleSigma = 1.0E-5; |
| 19336 | obj->ConstraintsOn = true; |
| 19337 | obj->RandomRestart = true; |
| 19338 | obj->StepTolerance = 1.0E-14; |
| 19339 | for (i = 0; i < 22; i++) { |
| 19340 | obj->Name[i] = tmp[i]; |
| 19341 | } |
| 19342 | |
| 19343 | obj->ConstraintMatrix->size[0] = 0; |
| 19344 | obj->ConstraintMatrix->size[1] = 0; |
| 19345 | obj->ConstraintBound->size[0] = 0; |
| 19346 | obj->TimeObj.StartTime = -1.0; |
| 19347 | obj->TimeObjInternal.StartTime = -1.0; |
| 19348 | return b_obj; |
| 19349 | } |
| 19350 | |
| 19351 | static void emxInitStruct_c_rigidBodyJoint1(c_rigidBodyJoint_cartesian_tr_T |
| 19352 | *pStruct) |
| 19353 | { |
| 19354 | cartesian_trajec_emxInit_char_T(&pStruct->Type, 2); |
| 19355 | cartesian_trajec_emxInit_real_T(&pStruct->MotionSubspace, 2); |
| 19356 | } |
| 19357 | |
| 19358 | static void emxInitStruct_o_robotics_manip_(o_robotics_manip_internal_Rig_T |
| 19359 | *pStruct) |
| 19360 | { |
| 19361 | cartesian_trajec_emxInit_char_T(&pStruct->NameInternal, 2); |
| 19362 | emxInitStruct_c_rigidBodyJoint1(&pStruct->JointInternal); |
| 19363 | } |
| 19364 | |
| 19365 | static void emxInitStruct_p_robotics_manip_(p_robotics_manip_internal_Rig_T |
| 19366 | *pStruct) |
| 19367 | { |
| 19368 | emxInitStruct_o_robotics_manip_(&pStruct->Base); |
| 19369 | } |
| 19370 | |
| 19371 | static void emxInitStruct_robotics_slmani_a(robotics_slmanip_internal_blo_T |
| 19372 | *pStruct) |
| 19373 | { |
| 19374 | emxInitStruct_p_robotics_manip_(&pStruct->TreeInternal); |
| 19375 | } |
| 19376 | |
| 19377 | static void emxInitStruct_n_robotics_manip_(n_robotics_manip_internal_Rig_T |
| 19378 | *pStruct) |
| 19379 | { |
| 19380 | cartesian_trajec_emxInit_char_T(&pStruct->NameInternal, 2); |
| 19381 | emxInitStruct_c_rigidBodyJoint1(&pStruct->JointInternal); |
| 19382 | } |
| 19383 | |
| 19384 | static n_robotics_manip_internal_Rig_T *cartesian_t_RigidBody_RigidBody |
| 19385 | (n_robotics_manip_internal_Rig_T *obj) |
| 19386 | { |
| 19387 | n_robotics_manip_internal_Rig_T *b_obj; |
| 19388 | int8_T msubspace_data[36]; |
| 19389 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 19390 | boolean_T b_bool; |
| 19391 | int32_T b_kstr; |
| 19392 | char_T b[8]; |
| 19393 | char_T b_0[9]; |
| 19394 | int32_T loop_ub; |
| 19395 | int8_T tmp[6]; |
| 19396 | static const char_T tmp_0[13] = { 'e', 'd', 'o', '_', 'b', 'a', 's', 'e', '_', |
| 19397 | 'l', 'i', 'n', 'k' }; |
| 19398 | |
| 19399 | static const char_T tmp_1[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 19400 | |
| 19401 | static const char_T tmp_2[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 19402 | |
| 19403 | static const char_T tmp_3[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 19404 | |
| 19405 | static const real_T tmp_4[16] = { 1.0, 0.0, -0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 19406 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 19407 | |
| 19408 | static const real_T tmp_5[16] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 19409 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 19410 | |
| 19411 | int32_T exitg1; |
| 19412 | b_obj = obj; |
| 19413 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 19414 | obj->NameInternal->size[0] = 1; |
| 19415 | obj->NameInternal->size[1] = 13; |
| 19416 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr); |
| 19417 | for (b_kstr = 0; b_kstr < 13; b_kstr++) { |
| 19418 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 19419 | } |
| 19420 | |
| 19421 | obj->ParentIndex = 0.0; |
| 19422 | b_kstr = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1]; |
| 19423 | obj->JointInternal.Type->size[0] = 1; |
| 19424 | obj->JointInternal.Type->size[1] = 5; |
| 19425 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.Type, b_kstr); |
| 19426 | for (b_kstr = 0; b_kstr < 5; b_kstr++) { |
| 19427 | obj->JointInternal.Type->data[b_kstr] = tmp_1[b_kstr]; |
| 19428 | } |
| 19429 | |
| 19430 | cartesian_trajec_emxInit_char_T(&switch_expression, 2); |
| 19431 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 19432 | switch_expression->size[0] = 1; |
| 19433 | switch_expression->size[1] = obj->JointInternal.Type->size[1]; |
| 19434 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr); |
| 19435 | loop_ub = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1] |
| 19436 | - 1; |
| 19437 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 19438 | switch_expression->data[b_kstr] = obj->JointInternal.Type->data[b_kstr]; |
| 19439 | } |
| 19440 | |
| 19441 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 19442 | b[b_kstr] = tmp_2[b_kstr]; |
| 19443 | } |
| 19444 | |
| 19445 | b_bool = false; |
| 19446 | if (switch_expression->size[1] == 8) { |
| 19447 | b_kstr = 1; |
| 19448 | do { |
| 19449 | exitg1 = 0; |
| 19450 | if (b_kstr - 1 < 8) { |
| 19451 | loop_ub = b_kstr - 1; |
| 19452 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 19453 | exitg1 = 1; |
| 19454 | } else { |
| 19455 | b_kstr++; |
| 19456 | } |
| 19457 | } else { |
| 19458 | b_bool = true; |
| 19459 | exitg1 = 1; |
| 19460 | } |
| 19461 | } while (exitg1 == 0); |
| 19462 | } |
| 19463 | |
| 19464 | if (b_bool) { |
| 19465 | b_kstr = 0; |
| 19466 | } else { |
| 19467 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 19468 | b_0[b_kstr] = tmp_3[b_kstr]; |
| 19469 | } |
| 19470 | |
| 19471 | b_bool = false; |
| 19472 | if (switch_expression->size[1] == 9) { |
| 19473 | b_kstr = 1; |
| 19474 | do { |
| 19475 | exitg1 = 0; |
| 19476 | if (b_kstr - 1 < 9) { |
| 19477 | loop_ub = b_kstr - 1; |
| 19478 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 19479 | exitg1 = 1; |
| 19480 | } else { |
| 19481 | b_kstr++; |
| 19482 | } |
| 19483 | } else { |
| 19484 | b_bool = true; |
| 19485 | exitg1 = 1; |
| 19486 | } |
| 19487 | } while (exitg1 == 0); |
| 19488 | } |
| 19489 | |
| 19490 | if (b_bool) { |
| 19491 | b_kstr = 1; |
| 19492 | } else { |
| 19493 | b_kstr = -1; |
| 19494 | } |
| 19495 | } |
| 19496 | |
| 19497 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 19498 | switch (b_kstr) { |
| 19499 | case 0: |
| 19500 | tmp[0] = 0; |
| 19501 | tmp[1] = 0; |
| 19502 | tmp[2] = 1; |
| 19503 | tmp[3] = 0; |
| 19504 | tmp[4] = 0; |
| 19505 | tmp[5] = 0; |
| 19506 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 19507 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 19508 | } |
| 19509 | |
| 19510 | obj->JointInternal.PositionNumber = 1.0; |
| 19511 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 19512 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 19513 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 19514 | break; |
| 19515 | |
| 19516 | case 1: |
| 19517 | tmp[0] = 0; |
| 19518 | tmp[1] = 0; |
| 19519 | tmp[2] = 0; |
| 19520 | tmp[3] = 0; |
| 19521 | tmp[4] = 0; |
| 19522 | tmp[5] = 1; |
| 19523 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 19524 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 19525 | } |
| 19526 | |
| 19527 | obj->JointInternal.PositionNumber = 1.0; |
| 19528 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 19529 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 19530 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 19531 | break; |
| 19532 | |
| 19533 | default: |
| 19534 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 19535 | msubspace_data[b_kstr] = 0; |
| 19536 | } |
| 19537 | |
| 19538 | obj->JointInternal.PositionNumber = 0.0; |
| 19539 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 19540 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 19541 | obj->JointInternal.JointAxisInternal[2] = 0.0; |
| 19542 | break; |
| 19543 | } |
| 19544 | |
| 19545 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 19546 | obj->JointInternal.MotionSubspace->size[1]; |
| 19547 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 19548 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 19549 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 19550 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 19551 | obj->JointInternal.MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 19552 | } |
| 19553 | |
| 19554 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 19555 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_4[b_kstr]; |
| 19556 | } |
| 19557 | |
| 19558 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 19559 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_5[b_kstr]; |
| 19560 | } |
| 19561 | |
| 19562 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 19563 | obj->JointInternal.MotionSubspace->size[1]; |
| 19564 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 19565 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 19566 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 19567 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 19568 | obj->JointInternal.MotionSubspace->data[b_kstr] = 0.0; |
| 19569 | } |
| 19570 | |
| 19571 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 19572 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 19573 | obj->JointInternal.JointAxisInternal[2] = 0.0; |
| 19574 | return b_obj; |
| 19575 | } |
| 19576 | |
| 19577 | static n_robotics_manip_internal_Rig_T *cartesian_RigidBody_RigidBody_a |
| 19578 | (n_robotics_manip_internal_Rig_T *obj) |
| 19579 | { |
| 19580 | n_robotics_manip_internal_Rig_T *b_obj; |
| 19581 | int8_T msubspace_data[36]; |
| 19582 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 19583 | boolean_T b_bool; |
| 19584 | int32_T b_kstr; |
| 19585 | char_T b[8]; |
| 19586 | char_T b_0[9]; |
| 19587 | int32_T loop_ub; |
| 19588 | int8_T tmp[6]; |
| 19589 | static const char_T tmp_0[10] = { 'e', 'd', 'o', '_', 'l', 'i', 'n', 'k', '_', |
| 19590 | '1' }; |
| 19591 | |
| 19592 | static const char_T tmp_1[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 19593 | |
| 19594 | static const char_T tmp_2[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 19595 | |
| 19596 | static const real_T tmp_3[16] = { 1.0, 0.0, -0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 19597 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.337, 1.0 }; |
| 19598 | |
| 19599 | static const real_T tmp_4[16] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 19600 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 19601 | |
| 19602 | static const real_T tmp_5[36] = { 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 19603 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 19604 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; |
| 19605 | |
| 19606 | int32_T exitg1; |
| 19607 | b_obj = obj; |
| 19608 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 19609 | obj->NameInternal->size[0] = 1; |
| 19610 | obj->NameInternal->size[1] = 10; |
| 19611 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr); |
| 19612 | for (b_kstr = 0; b_kstr < 10; b_kstr++) { |
| 19613 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 19614 | } |
| 19615 | |
| 19616 | obj->ParentIndex = 1.0; |
| 19617 | b_kstr = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1]; |
| 19618 | obj->JointInternal.Type->size[0] = 1; |
| 19619 | obj->JointInternal.Type->size[1] = 8; |
| 19620 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.Type, b_kstr); |
| 19621 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 19622 | obj->JointInternal.Type->data[b_kstr] = tmp_1[b_kstr]; |
| 19623 | } |
| 19624 | |
| 19625 | cartesian_trajec_emxInit_char_T(&switch_expression, 2); |
| 19626 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 19627 | switch_expression->size[0] = 1; |
| 19628 | switch_expression->size[1] = obj->JointInternal.Type->size[1]; |
| 19629 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr); |
| 19630 | loop_ub = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1] |
| 19631 | - 1; |
| 19632 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 19633 | switch_expression->data[b_kstr] = obj->JointInternal.Type->data[b_kstr]; |
| 19634 | } |
| 19635 | |
| 19636 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 19637 | b[b_kstr] = tmp_1[b_kstr]; |
| 19638 | } |
| 19639 | |
| 19640 | b_bool = false; |
| 19641 | if (switch_expression->size[1] == 8) { |
| 19642 | b_kstr = 1; |
| 19643 | do { |
| 19644 | exitg1 = 0; |
| 19645 | if (b_kstr - 1 < 8) { |
| 19646 | loop_ub = b_kstr - 1; |
| 19647 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 19648 | exitg1 = 1; |
| 19649 | } else { |
| 19650 | b_kstr++; |
| 19651 | } |
| 19652 | } else { |
| 19653 | b_bool = true; |
| 19654 | exitg1 = 1; |
| 19655 | } |
| 19656 | } while (exitg1 == 0); |
| 19657 | } |
| 19658 | |
| 19659 | if (b_bool) { |
| 19660 | b_kstr = 0; |
| 19661 | } else { |
| 19662 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 19663 | b_0[b_kstr] = tmp_2[b_kstr]; |
| 19664 | } |
| 19665 | |
| 19666 | b_bool = false; |
| 19667 | if (switch_expression->size[1] == 9) { |
| 19668 | b_kstr = 1; |
| 19669 | do { |
| 19670 | exitg1 = 0; |
| 19671 | if (b_kstr - 1 < 9) { |
| 19672 | loop_ub = b_kstr - 1; |
| 19673 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 19674 | exitg1 = 1; |
| 19675 | } else { |
| 19676 | b_kstr++; |
| 19677 | } |
| 19678 | } else { |
| 19679 | b_bool = true; |
| 19680 | exitg1 = 1; |
| 19681 | } |
| 19682 | } while (exitg1 == 0); |
| 19683 | } |
| 19684 | |
| 19685 | if (b_bool) { |
| 19686 | b_kstr = 1; |
| 19687 | } else { |
| 19688 | b_kstr = -1; |
| 19689 | } |
| 19690 | } |
| 19691 | |
| 19692 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 19693 | switch (b_kstr) { |
| 19694 | case 0: |
| 19695 | tmp[0] = 0; |
| 19696 | tmp[1] = 0; |
| 19697 | tmp[2] = 1; |
| 19698 | tmp[3] = 0; |
| 19699 | tmp[4] = 0; |
| 19700 | tmp[5] = 0; |
| 19701 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 19702 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 19703 | } |
| 19704 | |
| 19705 | obj->JointInternal.PositionNumber = 1.0; |
| 19706 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 19707 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 19708 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 19709 | break; |
| 19710 | |
| 19711 | case 1: |
| 19712 | tmp[0] = 0; |
| 19713 | tmp[1] = 0; |
| 19714 | tmp[2] = 0; |
| 19715 | tmp[3] = 0; |
| 19716 | tmp[4] = 0; |
| 19717 | tmp[5] = 1; |
| 19718 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 19719 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 19720 | } |
| 19721 | |
| 19722 | obj->JointInternal.PositionNumber = 1.0; |
| 19723 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 19724 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 19725 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 19726 | break; |
| 19727 | |
| 19728 | default: |
| 19729 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 19730 | msubspace_data[b_kstr] = 0; |
| 19731 | } |
| 19732 | |
| 19733 | obj->JointInternal.PositionNumber = 0.0; |
| 19734 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 19735 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 19736 | obj->JointInternal.JointAxisInternal[2] = 0.0; |
| 19737 | break; |
| 19738 | } |
| 19739 | |
| 19740 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 19741 | obj->JointInternal.MotionSubspace->size[1]; |
| 19742 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 19743 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 19744 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 19745 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 19746 | obj->JointInternal.MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 19747 | } |
| 19748 | |
| 19749 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 19750 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_3[b_kstr]; |
| 19751 | } |
| 19752 | |
| 19753 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 19754 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_4[b_kstr]; |
| 19755 | } |
| 19756 | |
| 19757 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 19758 | obj->JointInternal.MotionSubspace->size[1]; |
| 19759 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 19760 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 19761 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 19762 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 19763 | obj->JointInternal.MotionSubspace->data[b_kstr] = tmp_5[b_kstr]; |
| 19764 | } |
| 19765 | |
| 19766 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 19767 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 19768 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 19769 | return b_obj; |
| 19770 | } |
| 19771 | |
| 19772 | static n_robotics_manip_internal_Rig_T *cartesia_RigidBody_RigidBody_as |
| 19773 | (n_robotics_manip_internal_Rig_T *obj) |
| 19774 | { |
| 19775 | n_robotics_manip_internal_Rig_T *b_obj; |
| 19776 | int8_T msubspace_data[36]; |
| 19777 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 19778 | boolean_T b_bool; |
| 19779 | int32_T b_kstr; |
| 19780 | char_T b[8]; |
| 19781 | char_T b_0[9]; |
| 19782 | int32_T loop_ub; |
| 19783 | int8_T tmp[6]; |
| 19784 | static const char_T tmp_0[10] = { 'e', 'd', 'o', '_', 'l', 'i', 'n', 'k', '_', |
| 19785 | '2' }; |
| 19786 | |
| 19787 | static const char_T tmp_1[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 19788 | |
| 19789 | static const char_T tmp_2[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 19790 | |
| 19791 | static const real_T tmp_3[16] = { 1.0, 0.0, -0.0, 0.0, 0.0, |
| 19792 | 4.8965888601467475E-12, 1.0, 0.0, 0.0, -1.0, 4.8965888601467475E-12, 0.0, |
| 19793 | 0.0, 0.0, 0.0, 1.0 }; |
| 19794 | |
| 19795 | static const real_T tmp_4[16] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 19796 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 19797 | |
| 19798 | static const real_T tmp_5[36] = { 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 19799 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 19800 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; |
| 19801 | |
| 19802 | int32_T exitg1; |
| 19803 | b_obj = obj; |
| 19804 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 19805 | obj->NameInternal->size[0] = 1; |
| 19806 | obj->NameInternal->size[1] = 10; |
| 19807 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr); |
| 19808 | for (b_kstr = 0; b_kstr < 10; b_kstr++) { |
| 19809 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 19810 | } |
| 19811 | |
| 19812 | obj->ParentIndex = 2.0; |
| 19813 | b_kstr = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1]; |
| 19814 | obj->JointInternal.Type->size[0] = 1; |
| 19815 | obj->JointInternal.Type->size[1] = 8; |
| 19816 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.Type, b_kstr); |
| 19817 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 19818 | obj->JointInternal.Type->data[b_kstr] = tmp_1[b_kstr]; |
| 19819 | } |
| 19820 | |
| 19821 | cartesian_trajec_emxInit_char_T(&switch_expression, 2); |
| 19822 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 19823 | switch_expression->size[0] = 1; |
| 19824 | switch_expression->size[1] = obj->JointInternal.Type->size[1]; |
| 19825 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr); |
| 19826 | loop_ub = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1] |
| 19827 | - 1; |
| 19828 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 19829 | switch_expression->data[b_kstr] = obj->JointInternal.Type->data[b_kstr]; |
| 19830 | } |
| 19831 | |
| 19832 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 19833 | b[b_kstr] = tmp_1[b_kstr]; |
| 19834 | } |
| 19835 | |
| 19836 | b_bool = false; |
| 19837 | if (switch_expression->size[1] == 8) { |
| 19838 | b_kstr = 1; |
| 19839 | do { |
| 19840 | exitg1 = 0; |
| 19841 | if (b_kstr - 1 < 8) { |
| 19842 | loop_ub = b_kstr - 1; |
| 19843 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 19844 | exitg1 = 1; |
| 19845 | } else { |
| 19846 | b_kstr++; |
| 19847 | } |
| 19848 | } else { |
| 19849 | b_bool = true; |
| 19850 | exitg1 = 1; |
| 19851 | } |
| 19852 | } while (exitg1 == 0); |
| 19853 | } |
| 19854 | |
| 19855 | if (b_bool) { |
| 19856 | b_kstr = 0; |
| 19857 | } else { |
| 19858 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 19859 | b_0[b_kstr] = tmp_2[b_kstr]; |
| 19860 | } |
| 19861 | |
| 19862 | b_bool = false; |
| 19863 | if (switch_expression->size[1] == 9) { |
| 19864 | b_kstr = 1; |
| 19865 | do { |
| 19866 | exitg1 = 0; |
| 19867 | if (b_kstr - 1 < 9) { |
| 19868 | loop_ub = b_kstr - 1; |
| 19869 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 19870 | exitg1 = 1; |
| 19871 | } else { |
| 19872 | b_kstr++; |
| 19873 | } |
| 19874 | } else { |
| 19875 | b_bool = true; |
| 19876 | exitg1 = 1; |
| 19877 | } |
| 19878 | } while (exitg1 == 0); |
| 19879 | } |
| 19880 | |
| 19881 | if (b_bool) { |
| 19882 | b_kstr = 1; |
| 19883 | } else { |
| 19884 | b_kstr = -1; |
| 19885 | } |
| 19886 | } |
| 19887 | |
| 19888 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 19889 | switch (b_kstr) { |
| 19890 | case 0: |
| 19891 | tmp[0] = 0; |
| 19892 | tmp[1] = 0; |
| 19893 | tmp[2] = 1; |
| 19894 | tmp[3] = 0; |
| 19895 | tmp[4] = 0; |
| 19896 | tmp[5] = 0; |
| 19897 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 19898 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 19899 | } |
| 19900 | |
| 19901 | obj->JointInternal.PositionNumber = 1.0; |
| 19902 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 19903 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 19904 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 19905 | break; |
| 19906 | |
| 19907 | case 1: |
| 19908 | tmp[0] = 0; |
| 19909 | tmp[1] = 0; |
| 19910 | tmp[2] = 0; |
| 19911 | tmp[3] = 0; |
| 19912 | tmp[4] = 0; |
| 19913 | tmp[5] = 1; |
| 19914 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 19915 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 19916 | } |
| 19917 | |
| 19918 | obj->JointInternal.PositionNumber = 1.0; |
| 19919 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 19920 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 19921 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 19922 | break; |
| 19923 | |
| 19924 | default: |
| 19925 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 19926 | msubspace_data[b_kstr] = 0; |
| 19927 | } |
| 19928 | |
| 19929 | obj->JointInternal.PositionNumber = 0.0; |
| 19930 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 19931 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 19932 | obj->JointInternal.JointAxisInternal[2] = 0.0; |
| 19933 | break; |
| 19934 | } |
| 19935 | |
| 19936 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 19937 | obj->JointInternal.MotionSubspace->size[1]; |
| 19938 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 19939 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 19940 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 19941 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 19942 | obj->JointInternal.MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 19943 | } |
| 19944 | |
| 19945 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 19946 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_3[b_kstr]; |
| 19947 | } |
| 19948 | |
| 19949 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 19950 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_4[b_kstr]; |
| 19951 | } |
| 19952 | |
| 19953 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 19954 | obj->JointInternal.MotionSubspace->size[1]; |
| 19955 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 19956 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 19957 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 19958 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 19959 | obj->JointInternal.MotionSubspace->data[b_kstr] = tmp_5[b_kstr]; |
| 19960 | } |
| 19961 | |
| 19962 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 19963 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 19964 | obj->JointInternal.JointAxisInternal[2] = -1.0; |
| 19965 | return b_obj; |
| 19966 | } |
| 19967 | |
| 19968 | static n_robotics_manip_internal_Rig_T *cartesi_RigidBody_RigidBody_ast |
| 19969 | (n_robotics_manip_internal_Rig_T *obj) |
| 19970 | { |
| 19971 | n_robotics_manip_internal_Rig_T *b_obj; |
| 19972 | int8_T msubspace_data[36]; |
| 19973 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 19974 | boolean_T b_bool; |
| 19975 | int32_T b_kstr; |
| 19976 | char_T b[8]; |
| 19977 | char_T b_0[9]; |
| 19978 | int32_T loop_ub; |
| 19979 | int8_T tmp[6]; |
| 19980 | static const char_T tmp_0[10] = { 'e', 'd', 'o', '_', 'l', 'i', 'n', 'k', '_', |
| 19981 | '3' }; |
| 19982 | |
| 19983 | static const char_T tmp_1[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 19984 | |
| 19985 | static const char_T tmp_2[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 19986 | |
| 19987 | static const real_T tmp_3[16] = { 1.0, 2.0682310711021444E-13, |
| 19988 | 2.0682310711021444E-13, 0.0, 2.0682310711021444E-13, -1.0, -0.0, 0.0, |
| 19989 | 2.0682310711021444E-13, 4.2775797634723234E-26, -1.0, 0.0, 0.0, 0.2105, 0.0, |
| 19990 | 1.0 }; |
| 19991 | |
| 19992 | static const real_T tmp_4[16] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 19993 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 19994 | |
| 19995 | static const real_T tmp_5[36] = { 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 19996 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 19997 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; |
| 19998 | |
| 19999 | int32_T exitg1; |
| 20000 | b_obj = obj; |
| 20001 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 20002 | obj->NameInternal->size[0] = 1; |
| 20003 | obj->NameInternal->size[1] = 10; |
| 20004 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr); |
| 20005 | for (b_kstr = 0; b_kstr < 10; b_kstr++) { |
| 20006 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 20007 | } |
| 20008 | |
| 20009 | obj->ParentIndex = 3.0; |
| 20010 | b_kstr = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1]; |
| 20011 | obj->JointInternal.Type->size[0] = 1; |
| 20012 | obj->JointInternal.Type->size[1] = 8; |
| 20013 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.Type, b_kstr); |
| 20014 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 20015 | obj->JointInternal.Type->data[b_kstr] = tmp_1[b_kstr]; |
| 20016 | } |
| 20017 | |
| 20018 | cartesian_trajec_emxInit_char_T(&switch_expression, 2); |
| 20019 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 20020 | switch_expression->size[0] = 1; |
| 20021 | switch_expression->size[1] = obj->JointInternal.Type->size[1]; |
| 20022 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr); |
| 20023 | loop_ub = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1] |
| 20024 | - 1; |
| 20025 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 20026 | switch_expression->data[b_kstr] = obj->JointInternal.Type->data[b_kstr]; |
| 20027 | } |
| 20028 | |
| 20029 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 20030 | b[b_kstr] = tmp_1[b_kstr]; |
| 20031 | } |
| 20032 | |
| 20033 | b_bool = false; |
| 20034 | if (switch_expression->size[1] == 8) { |
| 20035 | b_kstr = 1; |
| 20036 | do { |
| 20037 | exitg1 = 0; |
| 20038 | if (b_kstr - 1 < 8) { |
| 20039 | loop_ub = b_kstr - 1; |
| 20040 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 20041 | exitg1 = 1; |
| 20042 | } else { |
| 20043 | b_kstr++; |
| 20044 | } |
| 20045 | } else { |
| 20046 | b_bool = true; |
| 20047 | exitg1 = 1; |
| 20048 | } |
| 20049 | } while (exitg1 == 0); |
| 20050 | } |
| 20051 | |
| 20052 | if (b_bool) { |
| 20053 | b_kstr = 0; |
| 20054 | } else { |
| 20055 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 20056 | b_0[b_kstr] = tmp_2[b_kstr]; |
| 20057 | } |
| 20058 | |
| 20059 | b_bool = false; |
| 20060 | if (switch_expression->size[1] == 9) { |
| 20061 | b_kstr = 1; |
| 20062 | do { |
| 20063 | exitg1 = 0; |
| 20064 | if (b_kstr - 1 < 9) { |
| 20065 | loop_ub = b_kstr - 1; |
| 20066 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 20067 | exitg1 = 1; |
| 20068 | } else { |
| 20069 | b_kstr++; |
| 20070 | } |
| 20071 | } else { |
| 20072 | b_bool = true; |
| 20073 | exitg1 = 1; |
| 20074 | } |
| 20075 | } while (exitg1 == 0); |
| 20076 | } |
| 20077 | |
| 20078 | if (b_bool) { |
| 20079 | b_kstr = 1; |
| 20080 | } else { |
| 20081 | b_kstr = -1; |
| 20082 | } |
| 20083 | } |
| 20084 | |
| 20085 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 20086 | switch (b_kstr) { |
| 20087 | case 0: |
| 20088 | tmp[0] = 0; |
| 20089 | tmp[1] = 0; |
| 20090 | tmp[2] = 1; |
| 20091 | tmp[3] = 0; |
| 20092 | tmp[4] = 0; |
| 20093 | tmp[5] = 0; |
| 20094 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 20095 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 20096 | } |
| 20097 | |
| 20098 | obj->JointInternal.PositionNumber = 1.0; |
| 20099 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 20100 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 20101 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 20102 | break; |
| 20103 | |
| 20104 | case 1: |
| 20105 | tmp[0] = 0; |
| 20106 | tmp[1] = 0; |
| 20107 | tmp[2] = 0; |
| 20108 | tmp[3] = 0; |
| 20109 | tmp[4] = 0; |
| 20110 | tmp[5] = 1; |
| 20111 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 20112 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 20113 | } |
| 20114 | |
| 20115 | obj->JointInternal.PositionNumber = 1.0; |
| 20116 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 20117 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 20118 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 20119 | break; |
| 20120 | |
| 20121 | default: |
| 20122 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 20123 | msubspace_data[b_kstr] = 0; |
| 20124 | } |
| 20125 | |
| 20126 | obj->JointInternal.PositionNumber = 0.0; |
| 20127 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 20128 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 20129 | obj->JointInternal.JointAxisInternal[2] = 0.0; |
| 20130 | break; |
| 20131 | } |
| 20132 | |
| 20133 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 20134 | obj->JointInternal.MotionSubspace->size[1]; |
| 20135 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 20136 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 20137 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 20138 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 20139 | obj->JointInternal.MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 20140 | } |
| 20141 | |
| 20142 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 20143 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_3[b_kstr]; |
| 20144 | } |
| 20145 | |
| 20146 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 20147 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_4[b_kstr]; |
| 20148 | } |
| 20149 | |
| 20150 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 20151 | obj->JointInternal.MotionSubspace->size[1]; |
| 20152 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 20153 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 20154 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 20155 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 20156 | obj->JointInternal.MotionSubspace->data[b_kstr] = tmp_5[b_kstr]; |
| 20157 | } |
| 20158 | |
| 20159 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 20160 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 20161 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 20162 | return b_obj; |
| 20163 | } |
| 20164 | |
| 20165 | static n_robotics_manip_internal_Rig_T *cartes_RigidBody_RigidBody_astw |
| 20166 | (n_robotics_manip_internal_Rig_T *obj) |
| 20167 | { |
| 20168 | n_robotics_manip_internal_Rig_T *b_obj; |
| 20169 | int8_T msubspace_data[36]; |
| 20170 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 20171 | boolean_T b_bool; |
| 20172 | int32_T b_kstr; |
| 20173 | char_T b[8]; |
| 20174 | char_T b_0[9]; |
| 20175 | int32_T loop_ub; |
| 20176 | int8_T tmp[6]; |
| 20177 | static const char_T tmp_0[10] = { 'e', 'd', 'o', '_', 'l', 'i', 'n', 'k', '_', |
| 20178 | '4' }; |
| 20179 | |
| 20180 | static const char_T tmp_1[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 20181 | |
| 20182 | static const char_T tmp_2[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 20183 | |
| 20184 | static const real_T tmp_3[16] = { 1.0, 0.0, -0.0, 0.0, 0.0, |
| 20185 | 4.8965888601467475E-12, 1.0, 0.0, 0.0, -1.0, 4.8965888601467475E-12, 0.0, |
| 20186 | 0.0, -0.268, 0.0, 1.0 }; |
| 20187 | |
| 20188 | static const real_T tmp_4[16] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 20189 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 20190 | |
| 20191 | static const real_T tmp_5[36] = { 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 20192 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 20193 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; |
| 20194 | |
| 20195 | int32_T exitg1; |
| 20196 | b_obj = obj; |
| 20197 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 20198 | obj->NameInternal->size[0] = 1; |
| 20199 | obj->NameInternal->size[1] = 10; |
| 20200 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr); |
| 20201 | for (b_kstr = 0; b_kstr < 10; b_kstr++) { |
| 20202 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 20203 | } |
| 20204 | |
| 20205 | obj->ParentIndex = 4.0; |
| 20206 | b_kstr = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1]; |
| 20207 | obj->JointInternal.Type->size[0] = 1; |
| 20208 | obj->JointInternal.Type->size[1] = 8; |
| 20209 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.Type, b_kstr); |
| 20210 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 20211 | obj->JointInternal.Type->data[b_kstr] = tmp_1[b_kstr]; |
| 20212 | } |
| 20213 | |
| 20214 | cartesian_trajec_emxInit_char_T(&switch_expression, 2); |
| 20215 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 20216 | switch_expression->size[0] = 1; |
| 20217 | switch_expression->size[1] = obj->JointInternal.Type->size[1]; |
| 20218 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr); |
| 20219 | loop_ub = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1] |
| 20220 | - 1; |
| 20221 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 20222 | switch_expression->data[b_kstr] = obj->JointInternal.Type->data[b_kstr]; |
| 20223 | } |
| 20224 | |
| 20225 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 20226 | b[b_kstr] = tmp_1[b_kstr]; |
| 20227 | } |
| 20228 | |
| 20229 | b_bool = false; |
| 20230 | if (switch_expression->size[1] == 8) { |
| 20231 | b_kstr = 1; |
| 20232 | do { |
| 20233 | exitg1 = 0; |
| 20234 | if (b_kstr - 1 < 8) { |
| 20235 | loop_ub = b_kstr - 1; |
| 20236 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 20237 | exitg1 = 1; |
| 20238 | } else { |
| 20239 | b_kstr++; |
| 20240 | } |
| 20241 | } else { |
| 20242 | b_bool = true; |
| 20243 | exitg1 = 1; |
| 20244 | } |
| 20245 | } while (exitg1 == 0); |
| 20246 | } |
| 20247 | |
| 20248 | if (b_bool) { |
| 20249 | b_kstr = 0; |
| 20250 | } else { |
| 20251 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 20252 | b_0[b_kstr] = tmp_2[b_kstr]; |
| 20253 | } |
| 20254 | |
| 20255 | b_bool = false; |
| 20256 | if (switch_expression->size[1] == 9) { |
| 20257 | b_kstr = 1; |
| 20258 | do { |
| 20259 | exitg1 = 0; |
| 20260 | if (b_kstr - 1 < 9) { |
| 20261 | loop_ub = b_kstr - 1; |
| 20262 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 20263 | exitg1 = 1; |
| 20264 | } else { |
| 20265 | b_kstr++; |
| 20266 | } |
| 20267 | } else { |
| 20268 | b_bool = true; |
| 20269 | exitg1 = 1; |
| 20270 | } |
| 20271 | } while (exitg1 == 0); |
| 20272 | } |
| 20273 | |
| 20274 | if (b_bool) { |
| 20275 | b_kstr = 1; |
| 20276 | } else { |
| 20277 | b_kstr = -1; |
| 20278 | } |
| 20279 | } |
| 20280 | |
| 20281 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 20282 | switch (b_kstr) { |
| 20283 | case 0: |
| 20284 | tmp[0] = 0; |
| 20285 | tmp[1] = 0; |
| 20286 | tmp[2] = 1; |
| 20287 | tmp[3] = 0; |
| 20288 | tmp[4] = 0; |
| 20289 | tmp[5] = 0; |
| 20290 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 20291 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 20292 | } |
| 20293 | |
| 20294 | obj->JointInternal.PositionNumber = 1.0; |
| 20295 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 20296 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 20297 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 20298 | break; |
| 20299 | |
| 20300 | case 1: |
| 20301 | tmp[0] = 0; |
| 20302 | tmp[1] = 0; |
| 20303 | tmp[2] = 0; |
| 20304 | tmp[3] = 0; |
| 20305 | tmp[4] = 0; |
| 20306 | tmp[5] = 1; |
| 20307 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 20308 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 20309 | } |
| 20310 | |
| 20311 | obj->JointInternal.PositionNumber = 1.0; |
| 20312 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 20313 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 20314 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 20315 | break; |
| 20316 | |
| 20317 | default: |
| 20318 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 20319 | msubspace_data[b_kstr] = 0; |
| 20320 | } |
| 20321 | |
| 20322 | obj->JointInternal.PositionNumber = 0.0; |
| 20323 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 20324 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 20325 | obj->JointInternal.JointAxisInternal[2] = 0.0; |
| 20326 | break; |
| 20327 | } |
| 20328 | |
| 20329 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 20330 | obj->JointInternal.MotionSubspace->size[1]; |
| 20331 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 20332 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 20333 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 20334 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 20335 | obj->JointInternal.MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 20336 | } |
| 20337 | |
| 20338 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 20339 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_3[b_kstr]; |
| 20340 | } |
| 20341 | |
| 20342 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 20343 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_4[b_kstr]; |
| 20344 | } |
| 20345 | |
| 20346 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 20347 | obj->JointInternal.MotionSubspace->size[1]; |
| 20348 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 20349 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 20350 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 20351 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 20352 | obj->JointInternal.MotionSubspace->data[b_kstr] = tmp_5[b_kstr]; |
| 20353 | } |
| 20354 | |
| 20355 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 20356 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 20357 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 20358 | return b_obj; |
| 20359 | } |
| 20360 | |
| 20361 | static n_robotics_manip_internal_Rig_T *carte_RigidBody_RigidBody_astwh |
| 20362 | (n_robotics_manip_internal_Rig_T *obj) |
| 20363 | { |
| 20364 | n_robotics_manip_internal_Rig_T *b_obj; |
| 20365 | int8_T msubspace_data[36]; |
| 20366 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 20367 | boolean_T b_bool; |
| 20368 | int32_T b_kstr; |
| 20369 | char_T b[8]; |
| 20370 | char_T b_0[9]; |
| 20371 | int32_T loop_ub; |
| 20372 | int8_T tmp[6]; |
| 20373 | static const char_T tmp_0[10] = { 'e', 'd', 'o', '_', 'l', 'i', 'n', 'k', '_', |
| 20374 | '5' }; |
| 20375 | |
| 20376 | static const char_T tmp_1[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 20377 | |
| 20378 | static const char_T tmp_2[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 20379 | |
| 20380 | static const real_T tmp_3[16] = { 1.0, 0.0, -0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 20381 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 20382 | |
| 20383 | static const real_T tmp_4[16] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 20384 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 20385 | |
| 20386 | static const real_T tmp_5[36] = { 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 20387 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 20388 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; |
| 20389 | |
| 20390 | int32_T exitg1; |
| 20391 | b_obj = obj; |
| 20392 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 20393 | obj->NameInternal->size[0] = 1; |
| 20394 | obj->NameInternal->size[1] = 10; |
| 20395 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr); |
| 20396 | for (b_kstr = 0; b_kstr < 10; b_kstr++) { |
| 20397 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 20398 | } |
| 20399 | |
| 20400 | obj->ParentIndex = 5.0; |
| 20401 | b_kstr = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1]; |
| 20402 | obj->JointInternal.Type->size[0] = 1; |
| 20403 | obj->JointInternal.Type->size[1] = 8; |
| 20404 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.Type, b_kstr); |
| 20405 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 20406 | obj->JointInternal.Type->data[b_kstr] = tmp_1[b_kstr]; |
| 20407 | } |
| 20408 | |
| 20409 | cartesian_trajec_emxInit_char_T(&switch_expression, 2); |
| 20410 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 20411 | switch_expression->size[0] = 1; |
| 20412 | switch_expression->size[1] = obj->JointInternal.Type->size[1]; |
| 20413 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr); |
| 20414 | loop_ub = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1] |
| 20415 | - 1; |
| 20416 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 20417 | switch_expression->data[b_kstr] = obj->JointInternal.Type->data[b_kstr]; |
| 20418 | } |
| 20419 | |
| 20420 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 20421 | b[b_kstr] = tmp_1[b_kstr]; |
| 20422 | } |
| 20423 | |
| 20424 | b_bool = false; |
| 20425 | if (switch_expression->size[1] == 8) { |
| 20426 | b_kstr = 1; |
| 20427 | do { |
| 20428 | exitg1 = 0; |
| 20429 | if (b_kstr - 1 < 8) { |
| 20430 | loop_ub = b_kstr - 1; |
| 20431 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 20432 | exitg1 = 1; |
| 20433 | } else { |
| 20434 | b_kstr++; |
| 20435 | } |
| 20436 | } else { |
| 20437 | b_bool = true; |
| 20438 | exitg1 = 1; |
| 20439 | } |
| 20440 | } while (exitg1 == 0); |
| 20441 | } |
| 20442 | |
| 20443 | if (b_bool) { |
| 20444 | b_kstr = 0; |
| 20445 | } else { |
| 20446 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 20447 | b_0[b_kstr] = tmp_2[b_kstr]; |
| 20448 | } |
| 20449 | |
| 20450 | b_bool = false; |
| 20451 | if (switch_expression->size[1] == 9) { |
| 20452 | b_kstr = 1; |
| 20453 | do { |
| 20454 | exitg1 = 0; |
| 20455 | if (b_kstr - 1 < 9) { |
| 20456 | loop_ub = b_kstr - 1; |
| 20457 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 20458 | exitg1 = 1; |
| 20459 | } else { |
| 20460 | b_kstr++; |
| 20461 | } |
| 20462 | } else { |
| 20463 | b_bool = true; |
| 20464 | exitg1 = 1; |
| 20465 | } |
| 20466 | } while (exitg1 == 0); |
| 20467 | } |
| 20468 | |
| 20469 | if (b_bool) { |
| 20470 | b_kstr = 1; |
| 20471 | } else { |
| 20472 | b_kstr = -1; |
| 20473 | } |
| 20474 | } |
| 20475 | |
| 20476 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 20477 | switch (b_kstr) { |
| 20478 | case 0: |
| 20479 | tmp[0] = 0; |
| 20480 | tmp[1] = 0; |
| 20481 | tmp[2] = 1; |
| 20482 | tmp[3] = 0; |
| 20483 | tmp[4] = 0; |
| 20484 | tmp[5] = 0; |
| 20485 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 20486 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 20487 | } |
| 20488 | |
| 20489 | obj->JointInternal.PositionNumber = 1.0; |
| 20490 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 20491 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 20492 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 20493 | break; |
| 20494 | |
| 20495 | case 1: |
| 20496 | tmp[0] = 0; |
| 20497 | tmp[1] = 0; |
| 20498 | tmp[2] = 0; |
| 20499 | tmp[3] = 0; |
| 20500 | tmp[4] = 0; |
| 20501 | tmp[5] = 1; |
| 20502 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 20503 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 20504 | } |
| 20505 | |
| 20506 | obj->JointInternal.PositionNumber = 1.0; |
| 20507 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 20508 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 20509 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 20510 | break; |
| 20511 | |
| 20512 | default: |
| 20513 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 20514 | msubspace_data[b_kstr] = 0; |
| 20515 | } |
| 20516 | |
| 20517 | obj->JointInternal.PositionNumber = 0.0; |
| 20518 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 20519 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 20520 | obj->JointInternal.JointAxisInternal[2] = 0.0; |
| 20521 | break; |
| 20522 | } |
| 20523 | |
| 20524 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 20525 | obj->JointInternal.MotionSubspace->size[1]; |
| 20526 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 20527 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 20528 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 20529 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 20530 | obj->JointInternal.MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 20531 | } |
| 20532 | |
| 20533 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 20534 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_3[b_kstr]; |
| 20535 | } |
| 20536 | |
| 20537 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 20538 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_4[b_kstr]; |
| 20539 | } |
| 20540 | |
| 20541 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 20542 | obj->JointInternal.MotionSubspace->size[1]; |
| 20543 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 20544 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 20545 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 20546 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 20547 | obj->JointInternal.MotionSubspace->data[b_kstr] = tmp_5[b_kstr]; |
| 20548 | } |
| 20549 | |
| 20550 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 20551 | obj->JointInternal.JointAxisInternal[1] = 1.0; |
| 20552 | obj->JointInternal.JointAxisInternal[2] = 0.0; |
| 20553 | return b_obj; |
| 20554 | } |
| 20555 | |
| 20556 | static n_robotics_manip_internal_Rig_T *cart_RigidBody_RigidBody_astwhq |
| 20557 | (n_robotics_manip_internal_Rig_T *obj) |
| 20558 | { |
| 20559 | n_robotics_manip_internal_Rig_T *b_obj; |
| 20560 | int8_T msubspace_data[36]; |
| 20561 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 20562 | boolean_T b_bool; |
| 20563 | int32_T b_kstr; |
| 20564 | char_T b[8]; |
| 20565 | char_T b_0[9]; |
| 20566 | int32_T loop_ub; |
| 20567 | int8_T tmp[6]; |
| 20568 | static const char_T tmp_0[10] = { 'e', 'd', 'o', '_', 'l', 'i', 'n', 'k', '_', |
| 20569 | '6' }; |
| 20570 | |
| 20571 | static const char_T tmp_1[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 20572 | |
| 20573 | static const char_T tmp_2[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 20574 | |
| 20575 | static const real_T tmp_3[16] = { 1.0, 0.0, -0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 20576 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.1745, 1.0 }; |
| 20577 | |
| 20578 | static const real_T tmp_4[16] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 20579 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 20580 | |
| 20581 | static const real_T tmp_5[36] = { 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 20582 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 20583 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; |
| 20584 | |
| 20585 | int32_T exitg1; |
| 20586 | b_obj = obj; |
| 20587 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 20588 | obj->NameInternal->size[0] = 1; |
| 20589 | obj->NameInternal->size[1] = 10; |
| 20590 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr); |
| 20591 | for (b_kstr = 0; b_kstr < 10; b_kstr++) { |
| 20592 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 20593 | } |
| 20594 | |
| 20595 | obj->ParentIndex = 6.0; |
| 20596 | b_kstr = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1]; |
| 20597 | obj->JointInternal.Type->size[0] = 1; |
| 20598 | obj->JointInternal.Type->size[1] = 8; |
| 20599 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.Type, b_kstr); |
| 20600 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 20601 | obj->JointInternal.Type->data[b_kstr] = tmp_1[b_kstr]; |
| 20602 | } |
| 20603 | |
| 20604 | cartesian_trajec_emxInit_char_T(&switch_expression, 2); |
| 20605 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 20606 | switch_expression->size[0] = 1; |
| 20607 | switch_expression->size[1] = obj->JointInternal.Type->size[1]; |
| 20608 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr); |
| 20609 | loop_ub = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1] |
| 20610 | - 1; |
| 20611 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 20612 | switch_expression->data[b_kstr] = obj->JointInternal.Type->data[b_kstr]; |
| 20613 | } |
| 20614 | |
| 20615 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 20616 | b[b_kstr] = tmp_1[b_kstr]; |
| 20617 | } |
| 20618 | |
| 20619 | b_bool = false; |
| 20620 | if (switch_expression->size[1] == 8) { |
| 20621 | b_kstr = 1; |
| 20622 | do { |
| 20623 | exitg1 = 0; |
| 20624 | if (b_kstr - 1 < 8) { |
| 20625 | loop_ub = b_kstr - 1; |
| 20626 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 20627 | exitg1 = 1; |
| 20628 | } else { |
| 20629 | b_kstr++; |
| 20630 | } |
| 20631 | } else { |
| 20632 | b_bool = true; |
| 20633 | exitg1 = 1; |
| 20634 | } |
| 20635 | } while (exitg1 == 0); |
| 20636 | } |
| 20637 | |
| 20638 | if (b_bool) { |
| 20639 | b_kstr = 0; |
| 20640 | } else { |
| 20641 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 20642 | b_0[b_kstr] = tmp_2[b_kstr]; |
| 20643 | } |
| 20644 | |
| 20645 | b_bool = false; |
| 20646 | if (switch_expression->size[1] == 9) { |
| 20647 | b_kstr = 1; |
| 20648 | do { |
| 20649 | exitg1 = 0; |
| 20650 | if (b_kstr - 1 < 9) { |
| 20651 | loop_ub = b_kstr - 1; |
| 20652 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 20653 | exitg1 = 1; |
| 20654 | } else { |
| 20655 | b_kstr++; |
| 20656 | } |
| 20657 | } else { |
| 20658 | b_bool = true; |
| 20659 | exitg1 = 1; |
| 20660 | } |
| 20661 | } while (exitg1 == 0); |
| 20662 | } |
| 20663 | |
| 20664 | if (b_bool) { |
| 20665 | b_kstr = 1; |
| 20666 | } else { |
| 20667 | b_kstr = -1; |
| 20668 | } |
| 20669 | } |
| 20670 | |
| 20671 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 20672 | switch (b_kstr) { |
| 20673 | case 0: |
| 20674 | tmp[0] = 0; |
| 20675 | tmp[1] = 0; |
| 20676 | tmp[2] = 1; |
| 20677 | tmp[3] = 0; |
| 20678 | tmp[4] = 0; |
| 20679 | tmp[5] = 0; |
| 20680 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 20681 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 20682 | } |
| 20683 | |
| 20684 | obj->JointInternal.PositionNumber = 1.0; |
| 20685 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 20686 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 20687 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 20688 | break; |
| 20689 | |
| 20690 | case 1: |
| 20691 | tmp[0] = 0; |
| 20692 | tmp[1] = 0; |
| 20693 | tmp[2] = 0; |
| 20694 | tmp[3] = 0; |
| 20695 | tmp[4] = 0; |
| 20696 | tmp[5] = 1; |
| 20697 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 20698 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 20699 | } |
| 20700 | |
| 20701 | obj->JointInternal.PositionNumber = 1.0; |
| 20702 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 20703 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 20704 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 20705 | break; |
| 20706 | |
| 20707 | default: |
| 20708 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 20709 | msubspace_data[b_kstr] = 0; |
| 20710 | } |
| 20711 | |
| 20712 | obj->JointInternal.PositionNumber = 0.0; |
| 20713 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 20714 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 20715 | obj->JointInternal.JointAxisInternal[2] = 0.0; |
| 20716 | break; |
| 20717 | } |
| 20718 | |
| 20719 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 20720 | obj->JointInternal.MotionSubspace->size[1]; |
| 20721 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 20722 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 20723 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 20724 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 20725 | obj->JointInternal.MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 20726 | } |
| 20727 | |
| 20728 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 20729 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_3[b_kstr]; |
| 20730 | } |
| 20731 | |
| 20732 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 20733 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_4[b_kstr]; |
| 20734 | } |
| 20735 | |
| 20736 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 20737 | obj->JointInternal.MotionSubspace->size[1]; |
| 20738 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 20739 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 20740 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 20741 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 20742 | obj->JointInternal.MotionSubspace->data[b_kstr] = tmp_5[b_kstr]; |
| 20743 | } |
| 20744 | |
| 20745 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 20746 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 20747 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 20748 | return b_obj; |
| 20749 | } |
| 20750 | |
| 20751 | static n_robotics_manip_internal_Rig_T *car_RigidBody_RigidBody_astwhqf |
| 20752 | (n_robotics_manip_internal_Rig_T *obj) |
| 20753 | { |
| 20754 | n_robotics_manip_internal_Rig_T *b_obj; |
| 20755 | int8_T msubspace_data[36]; |
| 20756 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 20757 | boolean_T b_bool; |
| 20758 | int32_T b_kstr; |
| 20759 | char_T b[8]; |
| 20760 | char_T b_0[9]; |
| 20761 | int32_T loop_ub; |
| 20762 | int8_T tmp[6]; |
| 20763 | static const char_T tmp_0[11] = { 'e', 'd', 'o', '_', 'l', 'i', 'n', 'k', '_', |
| 20764 | 'e', 'e' }; |
| 20765 | |
| 20766 | static const char_T tmp_1[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 20767 | |
| 20768 | static const char_T tmp_2[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 20769 | |
| 20770 | static const char_T tmp_3[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 20771 | |
| 20772 | static const real_T tmp_4[16] = { 1.0, 0.0, -0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 20773 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 20774 | |
| 20775 | static const real_T tmp_5[16] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 20776 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 20777 | |
| 20778 | int32_T exitg1; |
| 20779 | b_obj = obj; |
| 20780 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 20781 | obj->NameInternal->size[0] = 1; |
| 20782 | obj->NameInternal->size[1] = 11; |
| 20783 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr); |
| 20784 | for (b_kstr = 0; b_kstr < 11; b_kstr++) { |
| 20785 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 20786 | } |
| 20787 | |
| 20788 | obj->ParentIndex = 7.0; |
| 20789 | b_kstr = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1]; |
| 20790 | obj->JointInternal.Type->size[0] = 1; |
| 20791 | obj->JointInternal.Type->size[1] = 5; |
| 20792 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.Type, b_kstr); |
| 20793 | for (b_kstr = 0; b_kstr < 5; b_kstr++) { |
| 20794 | obj->JointInternal.Type->data[b_kstr] = tmp_1[b_kstr]; |
| 20795 | } |
| 20796 | |
| 20797 | cartesian_trajec_emxInit_char_T(&switch_expression, 2); |
| 20798 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 20799 | switch_expression->size[0] = 1; |
| 20800 | switch_expression->size[1] = obj->JointInternal.Type->size[1]; |
| 20801 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr); |
| 20802 | loop_ub = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1] |
| 20803 | - 1; |
| 20804 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 20805 | switch_expression->data[b_kstr] = obj->JointInternal.Type->data[b_kstr]; |
| 20806 | } |
| 20807 | |
| 20808 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 20809 | b[b_kstr] = tmp_2[b_kstr]; |
| 20810 | } |
| 20811 | |
| 20812 | b_bool = false; |
| 20813 | if (switch_expression->size[1] == 8) { |
| 20814 | b_kstr = 1; |
| 20815 | do { |
| 20816 | exitg1 = 0; |
| 20817 | if (b_kstr - 1 < 8) { |
| 20818 | loop_ub = b_kstr - 1; |
| 20819 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 20820 | exitg1 = 1; |
| 20821 | } else { |
| 20822 | b_kstr++; |
| 20823 | } |
| 20824 | } else { |
| 20825 | b_bool = true; |
| 20826 | exitg1 = 1; |
| 20827 | } |
| 20828 | } while (exitg1 == 0); |
| 20829 | } |
| 20830 | |
| 20831 | if (b_bool) { |
| 20832 | b_kstr = 0; |
| 20833 | } else { |
| 20834 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 20835 | b_0[b_kstr] = tmp_3[b_kstr]; |
| 20836 | } |
| 20837 | |
| 20838 | b_bool = false; |
| 20839 | if (switch_expression->size[1] == 9) { |
| 20840 | b_kstr = 1; |
| 20841 | do { |
| 20842 | exitg1 = 0; |
| 20843 | if (b_kstr - 1 < 9) { |
| 20844 | loop_ub = b_kstr - 1; |
| 20845 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 20846 | exitg1 = 1; |
| 20847 | } else { |
| 20848 | b_kstr++; |
| 20849 | } |
| 20850 | } else { |
| 20851 | b_bool = true; |
| 20852 | exitg1 = 1; |
| 20853 | } |
| 20854 | } while (exitg1 == 0); |
| 20855 | } |
| 20856 | |
| 20857 | if (b_bool) { |
| 20858 | b_kstr = 1; |
| 20859 | } else { |
| 20860 | b_kstr = -1; |
| 20861 | } |
| 20862 | } |
| 20863 | |
| 20864 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 20865 | switch (b_kstr) { |
| 20866 | case 0: |
| 20867 | tmp[0] = 0; |
| 20868 | tmp[1] = 0; |
| 20869 | tmp[2] = 1; |
| 20870 | tmp[3] = 0; |
| 20871 | tmp[4] = 0; |
| 20872 | tmp[5] = 0; |
| 20873 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 20874 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 20875 | } |
| 20876 | |
| 20877 | obj->JointInternal.PositionNumber = 1.0; |
| 20878 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 20879 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 20880 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 20881 | break; |
| 20882 | |
| 20883 | case 1: |
| 20884 | tmp[0] = 0; |
| 20885 | tmp[1] = 0; |
| 20886 | tmp[2] = 0; |
| 20887 | tmp[3] = 0; |
| 20888 | tmp[4] = 0; |
| 20889 | tmp[5] = 1; |
| 20890 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 20891 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 20892 | } |
| 20893 | |
| 20894 | obj->JointInternal.PositionNumber = 1.0; |
| 20895 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 20896 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 20897 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 20898 | break; |
| 20899 | |
| 20900 | default: |
| 20901 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 20902 | msubspace_data[b_kstr] = 0; |
| 20903 | } |
| 20904 | |
| 20905 | obj->JointInternal.PositionNumber = 0.0; |
| 20906 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 20907 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 20908 | obj->JointInternal.JointAxisInternal[2] = 0.0; |
| 20909 | break; |
| 20910 | } |
| 20911 | |
| 20912 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 20913 | obj->JointInternal.MotionSubspace->size[1]; |
| 20914 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 20915 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 20916 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 20917 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 20918 | obj->JointInternal.MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 20919 | } |
| 20920 | |
| 20921 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 20922 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_4[b_kstr]; |
| 20923 | } |
| 20924 | |
| 20925 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 20926 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_5[b_kstr]; |
| 20927 | } |
| 20928 | |
| 20929 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 20930 | obj->JointInternal.MotionSubspace->size[1]; |
| 20931 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 20932 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 20933 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 20934 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 20935 | obj->JointInternal.MotionSubspace->data[b_kstr] = 0.0; |
| 20936 | } |
| 20937 | |
| 20938 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 20939 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 20940 | obj->JointInternal.JointAxisInternal[2] = 0.0; |
| 20941 | return b_obj; |
| 20942 | } |
| 20943 | |
| 20944 | static o_robotics_manip_internal_Rig_T *ca_RigidBody_RigidBody_astwhqf2 |
| 20945 | (o_robotics_manip_internal_Rig_T *obj) |
| 20946 | { |
| 20947 | o_robotics_manip_internal_Rig_T *b_obj; |
| 20948 | int8_T msubspace_data[36]; |
| 20949 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 20950 | boolean_T b_bool; |
| 20951 | int32_T b_kstr; |
| 20952 | char_T b[8]; |
| 20953 | char_T b_0[9]; |
| 20954 | int32_T loop_ub; |
| 20955 | int8_T tmp[6]; |
| 20956 | static const char_T tmp_0[5] = { 'w', 'o', 'r', 'l', 'd' }; |
| 20957 | |
| 20958 | static const char_T tmp_1[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 20959 | |
| 20960 | static const char_T tmp_2[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 20961 | |
| 20962 | static const char_T tmp_3[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 20963 | |
| 20964 | int32_T exitg1; |
| 20965 | b_obj = obj; |
| 20966 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 20967 | obj->NameInternal->size[0] = 1; |
| 20968 | obj->NameInternal->size[1] = 5; |
| 20969 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr); |
| 20970 | for (b_kstr = 0; b_kstr < 5; b_kstr++) { |
| 20971 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 20972 | } |
| 20973 | |
| 20974 | b_kstr = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1]; |
| 20975 | obj->JointInternal.Type->size[0] = 1; |
| 20976 | obj->JointInternal.Type->size[1] = 5; |
| 20977 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.Type, b_kstr); |
| 20978 | for (b_kstr = 0; b_kstr < 5; b_kstr++) { |
| 20979 | obj->JointInternal.Type->data[b_kstr] = tmp_1[b_kstr]; |
| 20980 | } |
| 20981 | |
| 20982 | cartesian_trajec_emxInit_char_T(&switch_expression, 2); |
| 20983 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 20984 | switch_expression->size[0] = 1; |
| 20985 | switch_expression->size[1] = obj->JointInternal.Type->size[1]; |
| 20986 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr); |
| 20987 | loop_ub = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1] |
| 20988 | - 1; |
| 20989 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 20990 | switch_expression->data[b_kstr] = obj->JointInternal.Type->data[b_kstr]; |
| 20991 | } |
| 20992 | |
| 20993 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 20994 | b[b_kstr] = tmp_2[b_kstr]; |
| 20995 | } |
| 20996 | |
| 20997 | b_bool = false; |
| 20998 | if (switch_expression->size[1] == 8) { |
| 20999 | b_kstr = 1; |
| 21000 | do { |
| 21001 | exitg1 = 0; |
| 21002 | if (b_kstr - 1 < 8) { |
| 21003 | loop_ub = b_kstr - 1; |
| 21004 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 21005 | exitg1 = 1; |
| 21006 | } else { |
| 21007 | b_kstr++; |
| 21008 | } |
| 21009 | } else { |
| 21010 | b_bool = true; |
| 21011 | exitg1 = 1; |
| 21012 | } |
| 21013 | } while (exitg1 == 0); |
| 21014 | } |
| 21015 | |
| 21016 | if (b_bool) { |
| 21017 | b_kstr = 0; |
| 21018 | } else { |
| 21019 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 21020 | b_0[b_kstr] = tmp_3[b_kstr]; |
| 21021 | } |
| 21022 | |
| 21023 | b_bool = false; |
| 21024 | if (switch_expression->size[1] == 9) { |
| 21025 | b_kstr = 1; |
| 21026 | do { |
| 21027 | exitg1 = 0; |
| 21028 | if (b_kstr - 1 < 9) { |
| 21029 | loop_ub = b_kstr - 1; |
| 21030 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 21031 | exitg1 = 1; |
| 21032 | } else { |
| 21033 | b_kstr++; |
| 21034 | } |
| 21035 | } else { |
| 21036 | b_bool = true; |
| 21037 | exitg1 = 1; |
| 21038 | } |
| 21039 | } while (exitg1 == 0); |
| 21040 | } |
| 21041 | |
| 21042 | if (b_bool) { |
| 21043 | b_kstr = 1; |
| 21044 | } else { |
| 21045 | b_kstr = -1; |
| 21046 | } |
| 21047 | } |
| 21048 | |
| 21049 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 21050 | switch (b_kstr) { |
| 21051 | case 0: |
| 21052 | tmp[0] = 0; |
| 21053 | tmp[1] = 0; |
| 21054 | tmp[2] = 1; |
| 21055 | tmp[3] = 0; |
| 21056 | tmp[4] = 0; |
| 21057 | tmp[5] = 0; |
| 21058 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 21059 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 21060 | } |
| 21061 | |
| 21062 | obj->JointInternal.PositionNumber = 1.0; |
| 21063 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 21064 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 21065 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 21066 | break; |
| 21067 | |
| 21068 | case 1: |
| 21069 | tmp[0] = 0; |
| 21070 | tmp[1] = 0; |
| 21071 | tmp[2] = 0; |
| 21072 | tmp[3] = 0; |
| 21073 | tmp[4] = 0; |
| 21074 | tmp[5] = 1; |
| 21075 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 21076 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 21077 | } |
| 21078 | |
| 21079 | obj->JointInternal.PositionNumber = 1.0; |
| 21080 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 21081 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 21082 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 21083 | break; |
| 21084 | |
| 21085 | default: |
| 21086 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 21087 | msubspace_data[b_kstr] = 0; |
| 21088 | } |
| 21089 | |
| 21090 | obj->JointInternal.PositionNumber = 0.0; |
| 21091 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 21092 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 21093 | obj->JointInternal.JointAxisInternal[2] = 0.0; |
| 21094 | break; |
| 21095 | } |
| 21096 | |
| 21097 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 21098 | obj->JointInternal.MotionSubspace->size[1]; |
| 21099 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 21100 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 21101 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr); |
| 21102 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 21103 | obj->JointInternal.MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 21104 | } |
| 21105 | |
| 21106 | return b_obj; |
| 21107 | } |
| 21108 | |
| 21109 | static p_robotics_manip_internal_Rig_T *car_RigidBodyTree_RigidBodyTree |
| 21110 | (p_robotics_manip_internal_Rig_T *obj, n_robotics_manip_internal_Rig_T *iobj_0, |
| 21111 | n_robotics_manip_internal_Rig_T *iobj_1, n_robotics_manip_internal_Rig_T |
| 21112 | *iobj_2, n_robotics_manip_internal_Rig_T *iobj_3, |
| 21113 | n_robotics_manip_internal_Rig_T *iobj_4, n_robotics_manip_internal_Rig_T |
| 21114 | *iobj_5, n_robotics_manip_internal_Rig_T *iobj_6, |
| 21115 | n_robotics_manip_internal_Rig_T *iobj_7) |
| 21116 | { |
| 21117 | p_robotics_manip_internal_Rig_T *b_obj; |
| 21118 | int32_T i; |
| 21119 | static const int8_T tmp[16] = { 0, 1, 2, 3, 4, 5, 6, 0, -1, 1, 2, 3, 4, 5, 6, |
| 21120 | -1 }; |
| 21121 | |
| 21122 | b_obj = obj; |
| 21123 | obj->Bodies[0] = cartesian_t_RigidBody_RigidBody(iobj_0); |
| 21124 | obj->Bodies[0]->Index = 1.0; |
| 21125 | obj->Bodies[1] = cartesian_RigidBody_RigidBody_a(iobj_7); |
| 21126 | obj->Bodies[1]->Index = 2.0; |
| 21127 | obj->Bodies[2] = cartesia_RigidBody_RigidBody_as(iobj_1); |
| 21128 | obj->Bodies[2]->Index = 3.0; |
| 21129 | obj->Bodies[3] = cartesi_RigidBody_RigidBody_ast(iobj_2); |
| 21130 | obj->Bodies[3]->Index = 4.0; |
| 21131 | obj->Bodies[4] = cartes_RigidBody_RigidBody_astw(iobj_3); |
| 21132 | obj->Bodies[4]->Index = 5.0; |
| 21133 | obj->Bodies[5] = carte_RigidBody_RigidBody_astwh(iobj_4); |
| 21134 | obj->Bodies[5]->Index = 6.0; |
| 21135 | obj->Bodies[6] = cart_RigidBody_RigidBody_astwhq(iobj_5); |
| 21136 | obj->Bodies[6]->Index = 7.0; |
| 21137 | obj->Bodies[7] = car_RigidBody_RigidBody_astwhqf(iobj_6); |
| 21138 | obj->Bodies[7]->Index = 8.0; |
| 21139 | obj->NumBodies = 8.0; |
| 21140 | obj->PositionNumber = 6.0; |
| 21141 | obj->VelocityNumber = 6.0; |
| 21142 | for (i = 0; i < 16; i++) { |
| 21143 | obj->PositionDoFMap[i] = tmp[i]; |
| 21144 | } |
| 21145 | |
| 21146 | ca_RigidBody_RigidBody_astwhqf2(&obj->Base); |
| 21147 | return b_obj; |
| 21148 | } |
| 21149 | |
| 21150 | // Model step function |
| 21151 | void cartesian_trajectory_planner_step(void) |
| 21152 | { |
| 21153 | robotics_slmanip_internal_b_a_T *obj; |
| 21154 | emxArray_real_T_cartesian_tra_T *b; |
| 21155 | |
| 21156 | // Outputs for Atomic SubSystem: '<Root>/Subscribe' |
| 21157 | // MATLABSystem: '<S7>/SourceBlock' incorporates: |
| 21158 | // Inport: '<S10>/In1' |
| 21159 | |
| 21160 | cartesian_trajectory_planner_B.b_varargout_1 = |
| 21161 | Sub_cartesian_trajectory_planner_269.getLatestMessage |
| 21162 | (&cartesian_trajectory_planner_B.b_varargout_2_m); |
| 21163 | |
| 21164 | // Outputs for Enabled SubSystem: '<S7>/Enabled Subsystem' incorporates: |
| 21165 | // EnablePort: '<S10>/Enable' |
| 21166 | |
| 21167 | if (cartesian_trajectory_planner_B.b_varargout_1) { |
| 21168 | cartesian_trajectory_planner_B.In1 = |
| 21169 | cartesian_trajectory_planner_B.b_varargout_2_m; |
| 21170 | } |
| 21171 | |
| 21172 | // End of MATLABSystem: '<S7>/SourceBlock' |
| 21173 | // End of Outputs for SubSystem: '<S7>/Enabled Subsystem' |
| 21174 | // End of Outputs for SubSystem: '<Root>/Subscribe' |
| 21175 | |
| 21176 | // MATLAB Function: '<Root>/MATLAB Function1' |
| 21177 | cartesian_trajectory_planner_B.time = |
| 21178 | cartesian_trajectory_planner_B.In1.Clock_.Nsec / 1.0E+9 + |
| 21179 | cartesian_trajectory_planner_B.In1.Clock_.Sec; |
| 21180 | |
| 21181 | // SignalConversion generated from: '<Root>/Transform Trajectory' incorporates: |
| 21182 | // MATLABSystem: '<S8>/Get Parameter' |
| 21183 | // MATLABSystem: '<S8>/Get Parameter1' |
| 21184 | |
| 21185 | ParamGet_cartesian_trajectory_planner_272.get_parameter |
| 21186 | (&cartesian_trajectory_planner_B.signal1[0]); |
| 21187 | ParamGet_cartesian_trajectory_planner_273.get_parameter |
| 21188 | (&cartesian_trajectory_planner_B.signal1[1]); |
| 21189 | |
| 21190 | // MATLABSystem: '<S11>/Get Parameter3' |
| 21191 | ParamGet_cartesian_trajectory_planner_280.get_parameter |
| 21192 | (&cartesian_trajectory_planner_B.value_m); |
| 21193 | |
| 21194 | // MATLABSystem: '<S11>/Get Parameter4' |
| 21195 | ParamGet_cartesian_trajectory_planner_281.get_parameter |
| 21196 | (&cartesian_trajectory_planner_B.value_p); |
| 21197 | |
| 21198 | // MATLABSystem: '<S11>/Get Parameter5' |
| 21199 | ParamGet_cartesian_trajectory_planner_282.get_parameter |
| 21200 | (&cartesian_trajectory_planner_B.value_d); |
| 21201 | |
| 21202 | // MATLABSystem: '<S11>/Get Parameter6' |
| 21203 | ParamGet_cartesian_trajectory_planner_283.get_parameter |
| 21204 | (&cartesian_trajectory_planner_B.value_g); |
| 21205 | |
| 21206 | // MATLABSystem: '<S11>/Get Parameter' |
| 21207 | ParamGet_cartesian_trajectory_planner_277.get_parameter |
| 21208 | (&cartesian_trajectory_planner_B.value_c); |
| 21209 | |
| 21210 | // MATLABSystem: '<S11>/Get Parameter1' |
| 21211 | ParamGet_cartesian_trajectory_planner_278.get_parameter |
| 21212 | (&cartesian_trajectory_planner_B.value_cx); |
| 21213 | |
| 21214 | // MATLABSystem: '<S11>/Get Parameter2' |
| 21215 | ParamGet_cartesian_trajectory_planner_279.get_parameter |
| 21216 | (&cartesian_trajectory_planner_B.value_i); |
| 21217 | |
| 21218 | // MATLABSystem: '<Root>/Coordinate Transformation Conversion' incorporates: |
| 21219 | // MATLABSystem: '<S11>/Get Parameter' |
| 21220 | // MATLABSystem: '<S11>/Get Parameter1' |
| 21221 | // MATLABSystem: '<S11>/Get Parameter2' |
| 21222 | // MATLABSystem: '<S11>/Get Parameter3' |
| 21223 | // MATLABSystem: '<S11>/Get Parameter4' |
| 21224 | // MATLABSystem: '<S11>/Get Parameter5' |
| 21225 | // MATLABSystem: '<S11>/Get Parameter6' |
| 21226 | |
| 21227 | cartesian_trajectory_planner_B.b_dx = 1.0 / sqrt |
| 21228 | (((cartesian_trajectory_planner_B.value_m * |
| 21229 | cartesian_trajectory_planner_B.value_m + |
| 21230 | cartesian_trajectory_planner_B.value_p * |
| 21231 | cartesian_trajectory_planner_B.value_p) + |
| 21232 | cartesian_trajectory_planner_B.value_d * |
| 21233 | cartesian_trajectory_planner_B.value_d) + |
| 21234 | cartesian_trajectory_planner_B.value_g * |
| 21235 | cartesian_trajectory_planner_B.value_g); |
| 21236 | cartesian_trajectory_planner_B.value_m *= cartesian_trajectory_planner_B.b_dx; |
| 21237 | cartesian_trajectory_planner_B.value_p *= cartesian_trajectory_planner_B.b_dx; |
| 21238 | cartesian_trajectory_planner_B.value_d *= cartesian_trajectory_planner_B.b_dx; |
| 21239 | cartesian_trajectory_planner_B.value_g *= cartesian_trajectory_planner_B.b_dx; |
| 21240 | cartesian_trajectory_planner_B.b_dx = cartesian_trajectory_planner_B.value_g * |
| 21241 | cartesian_trajectory_planner_B.value_g; |
| 21242 | cartesian_trajectory_planner_B.tempR_tmp_d = |
| 21243 | cartesian_trajectory_planner_B.value_d * |
| 21244 | cartesian_trajectory_planner_B.value_d; |
| 21245 | cartesian_trajectory_planner_B.tempR[0] = 1.0 - |
| 21246 | (cartesian_trajectory_planner_B.tempR_tmp_d + |
| 21247 | cartesian_trajectory_planner_B.b_dx) * 2.0; |
| 21248 | cartesian_trajectory_planner_B.tempR_tmp = |
| 21249 | cartesian_trajectory_planner_B.value_p * |
| 21250 | cartesian_trajectory_planner_B.value_d; |
| 21251 | cartesian_trajectory_planner_B.tempR_tmp_g = |
| 21252 | cartesian_trajectory_planner_B.value_m * |
| 21253 | cartesian_trajectory_planner_B.value_g; |
| 21254 | cartesian_trajectory_planner_B.tempR[1] = |
| 21255 | (cartesian_trajectory_planner_B.tempR_tmp - |
| 21256 | cartesian_trajectory_planner_B.tempR_tmp_g) * 2.0; |
| 21257 | cartesian_trajectory_planner_B.tempR_tmp_l = |
| 21258 | cartesian_trajectory_planner_B.value_p * |
| 21259 | cartesian_trajectory_planner_B.value_g; |
| 21260 | cartesian_trajectory_planner_B.tempR_tmp_f = |
| 21261 | cartesian_trajectory_planner_B.value_m * |
| 21262 | cartesian_trajectory_planner_B.value_d; |
| 21263 | cartesian_trajectory_planner_B.tempR[2] = |
| 21264 | (cartesian_trajectory_planner_B.tempR_tmp_l + |
| 21265 | cartesian_trajectory_planner_B.tempR_tmp_f) * 2.0; |
| 21266 | cartesian_trajectory_planner_B.tempR[3] = |
| 21267 | (cartesian_trajectory_planner_B.tempR_tmp + |
| 21268 | cartesian_trajectory_planner_B.tempR_tmp_g) * 2.0; |
| 21269 | cartesian_trajectory_planner_B.tempR_tmp = |
| 21270 | cartesian_trajectory_planner_B.value_p * |
| 21271 | cartesian_trajectory_planner_B.value_p; |
| 21272 | cartesian_trajectory_planner_B.tempR[4] = 1.0 - |
| 21273 | (cartesian_trajectory_planner_B.tempR_tmp + |
| 21274 | cartesian_trajectory_planner_B.b_dx) * 2.0; |
| 21275 | cartesian_trajectory_planner_B.b_dx = cartesian_trajectory_planner_B.value_d * |
| 21276 | cartesian_trajectory_planner_B.value_g; |
| 21277 | cartesian_trajectory_planner_B.tempR_tmp_g = |
| 21278 | cartesian_trajectory_planner_B.value_m * |
| 21279 | cartesian_trajectory_planner_B.value_p; |
| 21280 | cartesian_trajectory_planner_B.tempR[5] = (cartesian_trajectory_planner_B.b_dx |
| 21281 | - cartesian_trajectory_planner_B.tempR_tmp_g) * 2.0; |
| 21282 | cartesian_trajectory_planner_B.tempR[6] = |
| 21283 | (cartesian_trajectory_planner_B.tempR_tmp_l - |
| 21284 | cartesian_trajectory_planner_B.tempR_tmp_f) * 2.0; |
| 21285 | cartesian_trajectory_planner_B.tempR[7] = (cartesian_trajectory_planner_B.b_dx |
| 21286 | + cartesian_trajectory_planner_B.tempR_tmp_g) * 2.0; |
| 21287 | cartesian_trajectory_planner_B.tempR[8] = 1.0 - |
| 21288 | (cartesian_trajectory_planner_B.tempR_tmp + |
| 21289 | cartesian_trajectory_planner_B.tempR_tmp_d) * 2.0; |
| 21290 | for (cartesian_trajectory_planner_B.b_k_e = 0; |
| 21291 | cartesian_trajectory_planner_B.b_k_e < 3; |
| 21292 | cartesian_trajectory_planner_B.b_k_e++) { |
| 21293 | cartesian_trajectory_planner_B.subsa_idx_1 = |
| 21294 | cartesian_trajectory_planner_B.b_k_e + 1; |
| 21295 | cartesian_trajectory_planner_B.R[cartesian_trajectory_planner_B.subsa_idx_1 |
| 21296 | - 1] = cartesian_trajectory_planner_B.tempR |
| 21297 | [(cartesian_trajectory_planner_B.subsa_idx_1 - 1) * 3]; |
| 21298 | cartesian_trajectory_planner_B.subsa_idx_1 = |
| 21299 | cartesian_trajectory_planner_B.b_k_e + 1; |
| 21300 | cartesian_trajectory_planner_B.R[cartesian_trajectory_planner_B.subsa_idx_1 |
| 21301 | + 2] = cartesian_trajectory_planner_B.tempR |
| 21302 | [(cartesian_trajectory_planner_B.subsa_idx_1 - 1) * 3 + 1]; |
| 21303 | cartesian_trajectory_planner_B.subsa_idx_1 = |
| 21304 | cartesian_trajectory_planner_B.b_k_e + 1; |
| 21305 | cartesian_trajectory_planner_B.R[cartesian_trajectory_planner_B.subsa_idx_1 |
| 21306 | + 5] = cartesian_trajectory_planner_B.tempR |
| 21307 | [(cartesian_trajectory_planner_B.subsa_idx_1 - 1) * 3 + 2]; |
| 21308 | } |
| 21309 | |
| 21310 | memset(&cartesian_trajectory_planner_B.out[0], 0, sizeof(real_T) << 4U); |
| 21311 | for (cartesian_trajectory_planner_B.b_k_e = 0; |
| 21312 | cartesian_trajectory_planner_B.b_k_e < 3; |
| 21313 | cartesian_trajectory_planner_B.b_k_e++) { |
| 21314 | cartesian_trajectory_planner_B.subsa_idx_1 = |
| 21315 | cartesian_trajectory_planner_B.b_k_e << 2; |
| 21316 | cartesian_trajectory_planner_B.out[cartesian_trajectory_planner_B.subsa_idx_1] |
| 21317 | = cartesian_trajectory_planner_B.R[3 * |
| 21318 | cartesian_trajectory_planner_B.b_k_e]; |
| 21319 | cartesian_trajectory_planner_B.out[cartesian_trajectory_planner_B.subsa_idx_1 |
| 21320 | + 1] = cartesian_trajectory_planner_B.R[3 * |
| 21321 | cartesian_trajectory_planner_B.b_k_e + 1]; |
| 21322 | cartesian_trajectory_planner_B.out[cartesian_trajectory_planner_B.subsa_idx_1 |
| 21323 | + 2] = cartesian_trajectory_planner_B.R[3 * |
| 21324 | cartesian_trajectory_planner_B.b_k_e + 2]; |
| 21325 | } |
| 21326 | |
| 21327 | cartesian_trajectory_planner_B.out[15] = 1.0; |
| 21328 | cartesian_trajectory_planner_B.out[12] = |
| 21329 | cartesian_trajectory_planner_B.value_c; |
| 21330 | cartesian_trajectory_planner_B.out[13] = |
| 21331 | cartesian_trajectory_planner_B.value_cx; |
| 21332 | cartesian_trajectory_planner_B.out[14] = |
| 21333 | cartesian_trajectory_planner_B.value_i; |
| 21334 | |
| 21335 | // MATLABSystem: '<S12>/Get Parameter3' |
| 21336 | ParamGet_cartesian_trajectory_planner_292.get_parameter |
| 21337 | (&cartesian_trajectory_planner_B.value_m); |
| 21338 | |
| 21339 | // MATLABSystem: '<S12>/Get Parameter4' |
| 21340 | ParamGet_cartesian_trajectory_planner_293.get_parameter |
| 21341 | (&cartesian_trajectory_planner_B.value_p); |
| 21342 | |
| 21343 | // MATLABSystem: '<S12>/Get Parameter5' |
| 21344 | ParamGet_cartesian_trajectory_planner_294.get_parameter |
| 21345 | (&cartesian_trajectory_planner_B.value_d); |
| 21346 | |
| 21347 | // MATLABSystem: '<S12>/Get Parameter6' |
| 21348 | ParamGet_cartesian_trajectory_planner_295.get_parameter |
| 21349 | (&cartesian_trajectory_planner_B.value_g); |
| 21350 | |
| 21351 | // MATLABSystem: '<S12>/Get Parameter' |
| 21352 | ParamGet_cartesian_trajectory_planner_289.get_parameter |
| 21353 | (&cartesian_trajectory_planner_B.value_c); |
| 21354 | |
| 21355 | // MATLABSystem: '<S12>/Get Parameter1' |
| 21356 | ParamGet_cartesian_trajectory_planner_290.get_parameter |
| 21357 | (&cartesian_trajectory_planner_B.value_cx); |
| 21358 | |
| 21359 | // MATLABSystem: '<S12>/Get Parameter2' |
| 21360 | ParamGet_cartesian_trajectory_planner_291.get_parameter |
| 21361 | (&cartesian_trajectory_planner_B.value_i); |
| 21362 | |
| 21363 | // MATLABSystem: '<Root>/Coordinate Transformation Conversion1' incorporates: |
| 21364 | // MATLABSystem: '<S12>/Get Parameter' |
| 21365 | // MATLABSystem: '<S12>/Get Parameter1' |
| 21366 | // MATLABSystem: '<S12>/Get Parameter2' |
| 21367 | // MATLABSystem: '<S12>/Get Parameter3' |
| 21368 | // MATLABSystem: '<S12>/Get Parameter4' |
| 21369 | // MATLABSystem: '<S12>/Get Parameter5' |
| 21370 | // MATLABSystem: '<S12>/Get Parameter6' |
| 21371 | |
| 21372 | cartesian_trajectory_planner_B.b_dx = 1.0 / sqrt |
| 21373 | (((cartesian_trajectory_planner_B.value_m * |
| 21374 | cartesian_trajectory_planner_B.value_m + |
| 21375 | cartesian_trajectory_planner_B.value_p * |
| 21376 | cartesian_trajectory_planner_B.value_p) + |
| 21377 | cartesian_trajectory_planner_B.value_d * |
| 21378 | cartesian_trajectory_planner_B.value_d) + |
| 21379 | cartesian_trajectory_planner_B.value_g * |
| 21380 | cartesian_trajectory_planner_B.value_g); |
| 21381 | cartesian_trajectory_planner_B.value_m *= cartesian_trajectory_planner_B.b_dx; |
| 21382 | cartesian_trajectory_planner_B.value_p *= cartesian_trajectory_planner_B.b_dx; |
| 21383 | cartesian_trajectory_planner_B.value_d *= cartesian_trajectory_planner_B.b_dx; |
| 21384 | cartesian_trajectory_planner_B.value_g *= cartesian_trajectory_planner_B.b_dx; |
| 21385 | cartesian_trajectory_planner_B.b_dx = cartesian_trajectory_planner_B.value_g * |
| 21386 | cartesian_trajectory_planner_B.value_g; |
| 21387 | cartesian_trajectory_planner_B.tempR_tmp_d = |
| 21388 | cartesian_trajectory_planner_B.value_d * |
| 21389 | cartesian_trajectory_planner_B.value_d; |
| 21390 | cartesian_trajectory_planner_B.tempR[0] = 1.0 - |
| 21391 | (cartesian_trajectory_planner_B.tempR_tmp_d + |
| 21392 | cartesian_trajectory_planner_B.b_dx) * 2.0; |
| 21393 | cartesian_trajectory_planner_B.tempR_tmp = |
| 21394 | cartesian_trajectory_planner_B.value_p * |
| 21395 | cartesian_trajectory_planner_B.value_d; |
| 21396 | cartesian_trajectory_planner_B.tempR_tmp_g = |
| 21397 | cartesian_trajectory_planner_B.value_m * |
| 21398 | cartesian_trajectory_planner_B.value_g; |
| 21399 | cartesian_trajectory_planner_B.tempR[1] = |
| 21400 | (cartesian_trajectory_planner_B.tempR_tmp - |
| 21401 | cartesian_trajectory_planner_B.tempR_tmp_g) * 2.0; |
| 21402 | cartesian_trajectory_planner_B.tempR_tmp_l = |
| 21403 | cartesian_trajectory_planner_B.value_p * |
| 21404 | cartesian_trajectory_planner_B.value_g; |
| 21405 | cartesian_trajectory_planner_B.tempR_tmp_f = |
| 21406 | cartesian_trajectory_planner_B.value_m * |
| 21407 | cartesian_trajectory_planner_B.value_d; |
| 21408 | cartesian_trajectory_planner_B.tempR[2] = |
| 21409 | (cartesian_trajectory_planner_B.tempR_tmp_l + |
| 21410 | cartesian_trajectory_planner_B.tempR_tmp_f) * 2.0; |
| 21411 | cartesian_trajectory_planner_B.tempR[3] = |
| 21412 | (cartesian_trajectory_planner_B.tempR_tmp + |
| 21413 | cartesian_trajectory_planner_B.tempR_tmp_g) * 2.0; |
| 21414 | cartesian_trajectory_planner_B.tempR_tmp = |
| 21415 | cartesian_trajectory_planner_B.value_p * |
| 21416 | cartesian_trajectory_planner_B.value_p; |
| 21417 | cartesian_trajectory_planner_B.tempR[4] = 1.0 - |
| 21418 | (cartesian_trajectory_planner_B.tempR_tmp + |
| 21419 | cartesian_trajectory_planner_B.b_dx) * 2.0; |
| 21420 | cartesian_trajectory_planner_B.b_dx = cartesian_trajectory_planner_B.value_d * |
| 21421 | cartesian_trajectory_planner_B.value_g; |
| 21422 | cartesian_trajectory_planner_B.tempR_tmp_g = |
| 21423 | cartesian_trajectory_planner_B.value_m * |
| 21424 | cartesian_trajectory_planner_B.value_p; |
| 21425 | cartesian_trajectory_planner_B.tempR[5] = (cartesian_trajectory_planner_B.b_dx |
| 21426 | - cartesian_trajectory_planner_B.tempR_tmp_g) * 2.0; |
| 21427 | cartesian_trajectory_planner_B.tempR[6] = |
| 21428 | (cartesian_trajectory_planner_B.tempR_tmp_l - |
| 21429 | cartesian_trajectory_planner_B.tempR_tmp_f) * 2.0; |
| 21430 | cartesian_trajectory_planner_B.tempR[7] = (cartesian_trajectory_planner_B.b_dx |
| 21431 | + cartesian_trajectory_planner_B.tempR_tmp_g) * 2.0; |
| 21432 | cartesian_trajectory_planner_B.tempR[8] = 1.0 - |
| 21433 | (cartesian_trajectory_planner_B.tempR_tmp + |
| 21434 | cartesian_trajectory_planner_B.tempR_tmp_d) * 2.0; |
| 21435 | for (cartesian_trajectory_planner_B.b_k_e = 0; |
| 21436 | cartesian_trajectory_planner_B.b_k_e < 3; |
| 21437 | cartesian_trajectory_planner_B.b_k_e++) { |
| 21438 | cartesian_trajectory_planner_B.subsa_idx_1 = |
| 21439 | cartesian_trajectory_planner_B.b_k_e + 1; |
| 21440 | cartesian_trajectory_planner_B.R[cartesian_trajectory_planner_B.subsa_idx_1 |
| 21441 | - 1] = cartesian_trajectory_planner_B.tempR |
| 21442 | [(cartesian_trajectory_planner_B.subsa_idx_1 - 1) * 3]; |
| 21443 | cartesian_trajectory_planner_B.subsa_idx_1 = |
| 21444 | cartesian_trajectory_planner_B.b_k_e + 1; |
| 21445 | cartesian_trajectory_planner_B.R[cartesian_trajectory_planner_B.subsa_idx_1 |
| 21446 | + 2] = cartesian_trajectory_planner_B.tempR |
| 21447 | [(cartesian_trajectory_planner_B.subsa_idx_1 - 1) * 3 + 1]; |
| 21448 | cartesian_trajectory_planner_B.subsa_idx_1 = |
| 21449 | cartesian_trajectory_planner_B.b_k_e + 1; |
| 21450 | cartesian_trajectory_planner_B.R[cartesian_trajectory_planner_B.subsa_idx_1 |
| 21451 | + 5] = cartesian_trajectory_planner_B.tempR |
| 21452 | [(cartesian_trajectory_planner_B.subsa_idx_1 - 1) * 3 + 2]; |
| 21453 | } |
| 21454 | |
| 21455 | memset(&cartesian_trajectory_planner_B.out_l[0], 0, sizeof(real_T) << 4U); |
| 21456 | for (cartesian_trajectory_planner_B.b_k_e = 0; |
| 21457 | cartesian_trajectory_planner_B.b_k_e < 3; |
| 21458 | cartesian_trajectory_planner_B.b_k_e++) { |
| 21459 | cartesian_trajectory_planner_B.subsa_idx_1 = |
| 21460 | cartesian_trajectory_planner_B.b_k_e << 2; |
| 21461 | cartesian_trajectory_planner_B.out_l[cartesian_trajectory_planner_B.subsa_idx_1] |
| 21462 | = cartesian_trajectory_planner_B.R[3 * |
| 21463 | cartesian_trajectory_planner_B.b_k_e]; |
| 21464 | cartesian_trajectory_planner_B.out_l[cartesian_trajectory_planner_B.subsa_idx_1 |
| 21465 | + 1] = cartesian_trajectory_planner_B.R[3 * |
| 21466 | cartesian_trajectory_planner_B.b_k_e + 1]; |
| 21467 | cartesian_trajectory_planner_B.out_l[cartesian_trajectory_planner_B.subsa_idx_1 |
| 21468 | + 2] = cartesian_trajectory_planner_B.R[3 * |
| 21469 | cartesian_trajectory_planner_B.b_k_e + 2]; |
| 21470 | } |
| 21471 | |
| 21472 | cartesian_trajectory_planner_B.out_l[15] = 1.0; |
| 21473 | cartesian_trajectory_planner_B.out_l[12] = |
| 21474 | cartesian_trajectory_planner_B.value_c; |
| 21475 | cartesian_trajectory_planner_B.out_l[13] = |
| 21476 | cartesian_trajectory_planner_B.value_cx; |
| 21477 | cartesian_trajectory_planner_B.out_l[14] = |
| 21478 | cartesian_trajectory_planner_B.value_i; |
| 21479 | |
| 21480 | // MATLABSystem: '<Root>/Transform Trajectory' incorporates: |
| 21481 | // MATLABSystem: '<Root>/Coordinate Transformation Conversion' |
| 21482 | // MATLABSystem: '<Root>/Coordinate Transformation Conversion1' |
| 21483 | |
| 21484 | if (cartesian_trajectory_planner_DW.obj_e.TunablePropsChanged) { |
| 21485 | cartesian_trajectory_planner_DW.obj_e.TunablePropsChanged = false; |
| 21486 | } |
| 21487 | |
| 21488 | cart_constructLinearTimeScaling(cartesian_trajectory_planner_B.signal1, |
| 21489 | cartesian_trajectory_planner_B.time, cartesian_trajectory_planner_B.b_f1); |
| 21490 | for (cartesian_trajectory_planner_B.b_k_e = 0; |
| 21491 | cartesian_trajectory_planner_B.b_k_e < 3; |
| 21492 | cartesian_trajectory_planner_B.b_k_e++) { |
| 21493 | // MATLABSystem: '<Root>/Coordinate Transformation Conversion' incorporates: |
| 21494 | // MATLABSystem: '<Root>/Coordinate Transformation Conversion1' |
| 21495 | |
| 21496 | cartesian_trajectory_planner_B.subsa_idx_1 = |
| 21497 | cartesian_trajectory_planner_B.b_k_e << 2; |
| 21498 | cartesian_trajectory_planner_B.R[3 * cartesian_trajectory_planner_B.b_k_e] = |
| 21499 | cartesian_trajectory_planner_B.out[cartesian_trajectory_planner_B.subsa_idx_1]; |
| 21500 | cartesian_trajectory_planner_B.out_lt[3 * |
| 21501 | cartesian_trajectory_planner_B.b_k_e] = |
| 21502 | cartesian_trajectory_planner_B.out_l[cartesian_trajectory_planner_B.subsa_idx_1]; |
| 21503 | |
| 21504 | // MATLABSystem: '<Root>/Coordinate Transformation Conversion' incorporates: |
| 21505 | // MATLABSystem: '<Root>/Coordinate Transformation Conversion1' |
| 21506 | |
| 21507 | cartesian_trajectory_planner_B.out_tmp = |
| 21508 | cartesian_trajectory_planner_B.subsa_idx_1 + 1; |
| 21509 | cartesian_trajectory_planner_B.out_tmp_h = 3 * |
| 21510 | cartesian_trajectory_planner_B.b_k_e + 1; |
| 21511 | cartesian_trajectory_planner_B.R[cartesian_trajectory_planner_B.out_tmp_h] = |
| 21512 | cartesian_trajectory_planner_B.out[cartesian_trajectory_planner_B.out_tmp]; |
| 21513 | cartesian_trajectory_planner_B.out_lt[cartesian_trajectory_planner_B.out_tmp_h] |
| 21514 | = |
| 21515 | cartesian_trajectory_planner_B.out_l[cartesian_trajectory_planner_B.out_tmp]; |
| 21516 | |
| 21517 | // MATLABSystem: '<Root>/Coordinate Transformation Conversion' incorporates: |
| 21518 | // MATLABSystem: '<Root>/Coordinate Transformation Conversion1' |
| 21519 | |
| 21520 | cartesian_trajectory_planner_B.subsa_idx_1 += 2; |
| 21521 | cartesian_trajectory_planner_B.out_tmp = 3 * |
| 21522 | cartesian_trajectory_planner_B.b_k_e + 2; |
| 21523 | cartesian_trajectory_planner_B.R[cartesian_trajectory_planner_B.out_tmp] = |
| 21524 | cartesian_trajectory_planner_B.out[cartesian_trajectory_planner_B.subsa_idx_1]; |
| 21525 | cartesian_trajectory_planner_B.out_lt[cartesian_trajectory_planner_B.out_tmp] |
| 21526 | = |
| 21527 | cartesian_trajectory_planner_B.out_l[cartesian_trajectory_planner_B.subsa_idx_1]; |
| 21528 | } |
| 21529 | |
| 21530 | cartesian_trajectory_pl_rottraj(cartesian_trajectory_planner_B.R, |
| 21531 | cartesian_trajectory_planner_B.out_lt, cartesian_trajectory_planner_B.b_f1, |
| 21532 | cartesian_trajectory_planner_B.tempR, cartesian_trajectory_planner_B.w, |
| 21533 | cartesian_trajectory_planner_B.a_p); |
| 21534 | memset(&cartesian_trajectory_planner_B.tfCalc[0], 0, sizeof(real_T) << 4U); |
| 21535 | cartesian_trajectory_planner_B.tfCalc[15] = 1.0; |
| 21536 | for (cartesian_trajectory_planner_B.b_k_e = 0; |
| 21537 | cartesian_trajectory_planner_B.b_k_e < 3; |
| 21538 | cartesian_trajectory_planner_B.b_k_e++) { |
| 21539 | // MATLABSystem: '<Root>/Coordinate Transformation Conversion' |
| 21540 | cartesian_trajectory_planner_B.time = |
| 21541 | cartesian_trajectory_planner_B.out[cartesian_trajectory_planner_B.b_k_e + |
| 21542 | 12]; |
| 21543 | cartesian_trajectory_planner_B.a_p[cartesian_trajectory_planner_B.b_k_e] = |
| 21544 | cartesian_trajectory_planner_B.time; |
| 21545 | cartesian_trajectory_planner_B.subsa_idx_1 = |
| 21546 | cartesian_trajectory_planner_B.b_k_e << 2; |
| 21547 | cartesian_trajectory_planner_B.tfCalc[cartesian_trajectory_planner_B.subsa_idx_1] |
| 21548 | = cartesian_trajectory_planner_B.tempR[3 * |
| 21549 | cartesian_trajectory_planner_B.b_k_e]; |
| 21550 | cartesian_trajectory_planner_B.tfCalc[cartesian_trajectory_planner_B.subsa_idx_1 |
| 21551 | + 1] = cartesian_trajectory_planner_B.tempR[3 * |
| 21552 | cartesian_trajectory_planner_B.b_k_e + 1]; |
| 21553 | cartesian_trajectory_planner_B.tfCalc[cartesian_trajectory_planner_B.subsa_idx_1 |
| 21554 | + 2] = cartesian_trajectory_planner_B.tempR[3 * |
| 21555 | cartesian_trajectory_planner_B.b_k_e + 2]; |
| 21556 | cartesian_trajectory_planner_B.tfCalc_tmp[cartesian_trajectory_planner_B.b_k_e] |
| 21557 | = |
| 21558 | cartesian_trajectory_planner_B.out_l[cartesian_trajectory_planner_B.b_k_e |
| 21559 | + 12] - cartesian_trajectory_planner_B.time; |
| 21560 | } |
| 21561 | |
| 21562 | cartesian_trajectory_planner_B.tfCalc[12] = |
| 21563 | cartesian_trajectory_planner_B.tfCalc_tmp[0] * |
| 21564 | cartesian_trajectory_planner_B.b_f1[0] + cartesian_trajectory_planner_B.a_p |
| 21565 | [0]; |
| 21566 | cartesian_trajectory_planner_B.vCalc[0] = cartesian_trajectory_planner_B.w[0]; |
| 21567 | cartesian_trajectory_planner_B.vCalc[3] = |
| 21568 | cartesian_trajectory_planner_B.tfCalc_tmp[0] * |
| 21569 | cartesian_trajectory_planner_B.b_f1[1]; |
| 21570 | cartesian_trajectory_planner_B.tfCalc[13] = |
| 21571 | cartesian_trajectory_planner_B.tfCalc_tmp[1] * |
| 21572 | cartesian_trajectory_planner_B.b_f1[0] + cartesian_trajectory_planner_B.a_p |
| 21573 | [1]; |
| 21574 | cartesian_trajectory_planner_B.vCalc[1] = cartesian_trajectory_planner_B.w[1]; |
| 21575 | cartesian_trajectory_planner_B.vCalc[4] = |
| 21576 | cartesian_trajectory_planner_B.tfCalc_tmp[1] * |
| 21577 | cartesian_trajectory_planner_B.b_f1[1]; |
| 21578 | cartesian_trajectory_planner_B.tfCalc[14] = |
| 21579 | cartesian_trajectory_planner_B.tfCalc_tmp[2] * |
| 21580 | cartesian_trajectory_planner_B.b_f1[0] + cartesian_trajectory_planner_B.a_p |
| 21581 | [2]; |
| 21582 | cartesian_trajectory_planner_B.vCalc[2] = cartesian_trajectory_planner_B.w[2]; |
| 21583 | cartesian_trajectory_planner_B.vCalc[5] = |
| 21584 | cartesian_trajectory_planner_B.tfCalc_tmp[2] * |
| 21585 | cartesian_trajectory_planner_B.b_f1[1]; |
| 21586 | for (cartesian_trajectory_planner_B.b_k_e = 0; |
| 21587 | cartesian_trajectory_planner_B.b_k_e < 4; |
| 21588 | cartesian_trajectory_planner_B.b_k_e++) { |
| 21589 | cartesian_trajectory_planner_B.subsa_idx_1 = |
| 21590 | cartesian_trajectory_planner_B.b_k_e << 2; |
| 21591 | cartesian_trajectory_planner_B.out[cartesian_trajectory_planner_B.subsa_idx_1] |
| 21592 | = |
| 21593 | cartesian_trajectory_planner_B.tfCalc[cartesian_trajectory_planner_B.subsa_idx_1]; |
| 21594 | cartesian_trajectory_planner_B.out_tmp = |
| 21595 | cartesian_trajectory_planner_B.subsa_idx_1 + 1; |
| 21596 | cartesian_trajectory_planner_B.out[cartesian_trajectory_planner_B.out_tmp] = |
| 21597 | cartesian_trajectory_planner_B.tfCalc[cartesian_trajectory_planner_B.out_tmp]; |
| 21598 | cartesian_trajectory_planner_B.out_tmp = |
| 21599 | cartesian_trajectory_planner_B.subsa_idx_1 + 2; |
| 21600 | cartesian_trajectory_planner_B.out[cartesian_trajectory_planner_B.out_tmp] = |
| 21601 | cartesian_trajectory_planner_B.tfCalc[cartesian_trajectory_planner_B.out_tmp]; |
| 21602 | cartesian_trajectory_planner_B.subsa_idx_1 += 3; |
| 21603 | cartesian_trajectory_planner_B.out[cartesian_trajectory_planner_B.subsa_idx_1] |
| 21604 | = |
| 21605 | cartesian_trajectory_planner_B.tfCalc[cartesian_trajectory_planner_B.subsa_idx_1]; |
| 21606 | } |
| 21607 | |
| 21608 | for (cartesian_trajectory_planner_B.b_k_e = 0; |
| 21609 | cartesian_trajectory_planner_B.b_k_e < 6; |
| 21610 | cartesian_trajectory_planner_B.b_k_e++) { |
| 21611 | cartesian_trajectory_planner_B.b_varargout_2[cartesian_trajectory_planner_B.b_k_e] |
| 21612 | = |
| 21613 | cartesian_trajectory_planner_B.vCalc[cartesian_trajectory_planner_B.b_k_e]; |
| 21614 | } |
| 21615 | |
| 21616 | // MATLABSystem: '<S3>/MATLAB System' incorporates: |
| 21617 | // MATLABSystem: '<S9>/Get Parameter' |
| 21618 | // MATLABSystem: '<S9>/Get Parameter1' |
| 21619 | // MATLABSystem: '<S9>/Get Parameter2' |
| 21620 | // MATLABSystem: '<S9>/Get Parameter3' |
| 21621 | // MATLABSystem: '<S9>/Get Parameter4' |
| 21622 | // MATLABSystem: '<S9>/Get Parameter5' |
| 21623 | |
| 21624 | ParamGet_cartesian_trajectory_planner_301.get_parameter |
| 21625 | (&cartesian_trajectory_planner_B.value[0]); |
| 21626 | ParamGet_cartesian_trajectory_planner_302.get_parameter |
| 21627 | (&cartesian_trajectory_planner_B.value[1]); |
| 21628 | ParamGet_cartesian_trajectory_planner_303.get_parameter |
| 21629 | (&cartesian_trajectory_planner_B.value[2]); |
| 21630 | ParamGet_cartesian_trajectory_planner_304.get_parameter |
| 21631 | (&cartesian_trajectory_planner_B.value[3]); |
| 21632 | ParamGet_cartesian_trajectory_planner_305.get_parameter |
| 21633 | (&cartesian_trajectory_planner_B.value[4]); |
| 21634 | ParamGet_cartesian_trajectory_planner_306.get_parameter |
| 21635 | (&cartesian_trajectory_planner_B.value[5]); |
| 21636 | obj = &cartesian_trajectory_planner_DW.obj; |
| 21637 | if (cartesian_trajectory_planner_DW.obj.IKInternal.isInitialized != 1) { |
| 21638 | cartesian_trajectory_planner_DW.obj.IKInternal.isSetupComplete = false; |
| 21639 | cartesian_trajectory_planner_DW.obj.IKInternal.isInitialized = 1; |
| 21640 | car_inverseKinematics_setupImpl |
| 21641 | (&cartesian_trajectory_planner_DW.obj.IKInternal, |
| 21642 | &cartesian_trajectory_planner_DW.gobj_85); |
| 21643 | obj->IKInternal.isSetupComplete = true; |
| 21644 | } |
| 21645 | |
| 21646 | cartesian_trajec_emxInit_real_T(&b, 2); |
| 21647 | |
| 21648 | // Delay: '<Root>/Delay' |
| 21649 | for (cartesian_trajectory_planner_B.b_k_e = 0; |
| 21650 | cartesian_trajectory_planner_B.b_k_e < 6; |
| 21651 | cartesian_trajectory_planner_B.b_k_e++) { |
| 21652 | cartesian_trajectory_planner_B.dv1[cartesian_trajectory_planner_B.b_k_e] = |
| 21653 | cartesian_trajectory_planner_DW.Delay_DSTATE[cartesian_trajectory_planner_B.b_k_e]; |
| 21654 | } |
| 21655 | |
| 21656 | // MATLABSystem: '<S3>/MATLAB System' incorporates: |
| 21657 | // Delay: '<Root>/Delay' |
| 21658 | // MATLABSystem: '<Root>/Transform Trajectory' |
| 21659 | |
| 21660 | cart_inverseKinematics_stepImpl(&obj->IKInternal, |
| 21661 | cartesian_trajectory_planner_B.out, cartesian_trajectory_planner_B.value, |
| 21662 | cartesian_trajectory_planner_B.dv1, |
| 21663 | cartesian_trajectory_planner_DW.Delay_DSTATE); |
| 21664 | |
| 21665 | // MATLABSystem: '<S2>/MATLAB System' incorporates: |
| 21666 | // Delay: '<Root>/Delay' |
| 21667 | |
| 21668 | RigidBodyTree_geometricJacobian |
| 21669 | (&cartesian_trajectory_planner_DW.obj_o.TreeInternal, |
| 21670 | cartesian_trajectory_planner_DW.Delay_DSTATE, b); |
| 21671 | |
| 21672 | // MATLAB Function: '<Root>/MATLAB Function' incorporates: |
| 21673 | // Constant: '<S1>/Constant' |
| 21674 | |
| 21675 | cartesian_trajectory_planner_B.msg = |
| 21676 | cartesian_trajectory_planner_P.Constant_Value; |
| 21677 | cartesian_trajectory_planner_B.msg.Velocities_SL_Info.CurrentLength = 6U; |
| 21678 | |
| 21679 | // Product: '<Root>/Reciprocal' incorporates: |
| 21680 | // MATLABSystem: '<S2>/MATLAB System' |
| 21681 | |
| 21682 | rt_invd6x6_snf(b->data, cartesian_trajectory_planner_B.dv); |
| 21683 | cartesian_trajec_emxFree_real_T(&b); |
| 21684 | |
| 21685 | // MATLAB Function: '<Root>/MATLAB Function' |
| 21686 | cartesian_trajectory_planner_B.msg.Positions_SL_Info.CurrentLength = 6U; |
| 21687 | for (cartesian_trajectory_planner_B.subsa_idx_1 = 0; |
| 21688 | cartesian_trajectory_planner_B.subsa_idx_1 < 6; |
| 21689 | cartesian_trajectory_planner_B.subsa_idx_1++) { |
| 21690 | // Product: '<Root>/MatrixMultiply1' incorporates: |
| 21691 | // MATLABSystem: '<Root>/Transform Trajectory' |
| 21692 | // Product: '<Root>/Reciprocal' |
| 21693 | |
| 21694 | cartesian_trajectory_planner_B.vCalc[cartesian_trajectory_planner_B.subsa_idx_1] |
| 21695 | = 0.0; |
| 21696 | for (cartesian_trajectory_planner_B.b_k_e = 0; |
| 21697 | cartesian_trajectory_planner_B.b_k_e < 6; |
| 21698 | cartesian_trajectory_planner_B.b_k_e++) { |
| 21699 | cartesian_trajectory_planner_B.vCalc[cartesian_trajectory_planner_B.subsa_idx_1] |
| 21700 | += cartesian_trajectory_planner_B.dv[6 * |
| 21701 | cartesian_trajectory_planner_B.b_k_e + |
| 21702 | cartesian_trajectory_planner_B.subsa_idx_1] * |
| 21703 | cartesian_trajectory_planner_B.b_varargout_2[cartesian_trajectory_planner_B.b_k_e]; |
| 21704 | } |
| 21705 | |
| 21706 | // End of Product: '<Root>/MatrixMultiply1' |
| 21707 | |
| 21708 | // MATLAB Function: '<Root>/MATLAB Function' incorporates: |
| 21709 | // Delay: '<Root>/Delay' |
| 21710 | |
| 21711 | cartesian_trajectory_planner_B.msg.Velocities[cartesian_trajectory_planner_B.subsa_idx_1] |
| 21712 | = |
| 21713 | cartesian_trajectory_planner_B.vCalc[cartesian_trajectory_planner_B.subsa_idx_1]; |
| 21714 | cartesian_trajectory_planner_B.msg.Positions[cartesian_trajectory_planner_B.subsa_idx_1] |
| 21715 | = |
| 21716 | cartesian_trajectory_planner_DW.Delay_DSTATE[cartesian_trajectory_planner_B.subsa_idx_1]; |
| 21717 | } |
| 21718 | |
| 21719 | // Outputs for Atomic SubSystem: '<Root>/Publish' |
| 21720 | // MATLABSystem: '<S6>/SinkBlock' |
| 21721 | Pub_cartesian_trajectory_planner_267.publish |
| 21722 | (&cartesian_trajectory_planner_B.msg); |
| 21723 | |
| 21724 | // End of Outputs for SubSystem: '<Root>/Publish' |
| 21725 | } |
| 21726 | |
| 21727 | // Model initialize function |
| 21728 | void cartesian_trajectory_planner_initialize(void) |
| 21729 | { |
| 21730 | // Registration code |
| 21731 | |
| 21732 | // initialize non-finites |
| 21733 | rt_InitInfAndNaN(sizeof(real_T)); |
| 21734 | |
| 21735 | { |
| 21736 | robotics_slmanip_internal_b_a_T *obj; |
| 21737 | b_inverseKinematics_cartesian_T *obj_0; |
| 21738 | h_robotics_core_internal_Damp_T *obj_1; |
| 21739 | static const real_T tmp[33] = { 0.0, 1.0, 0.0, 0.1, 1.0, 0.0, 0.2, 1.0, 0.0, |
| 21740 | 0.30000000000000004, 1.0, 0.0, 0.4, 1.0, 0.0, 0.5, 1.0, 0.0, 0.6, 1.0, 0.0, |
| 21741 | 0.7, 1.0, 0.0, 0.8, 1.0, 0.0, 0.9, 1.0, 0.0, 1.0, 1.0, 0.0 }; |
| 21742 | |
| 21743 | static const char_T tmp_0[6] = { '/', 'c', 'l', 'o', 'c', 'k' }; |
| 21744 | |
| 21745 | static const char_T tmp_1[17] = { '/', 'j', 'o', 'i', 'n', 't', '_', 't', |
| 21746 | 'r', 'a', 'j', 'e', 'c', 't', 'o', 'r', 'y' }; |
| 21747 | |
| 21748 | static const char_T tmp_2[12] = { '/', 's', 't', 'a', 'r', 't', '_', 'd', |
| 21749 | 'e', 'l', 'a', 'y' }; |
| 21750 | |
| 21751 | static const char_T tmp_3[5] = { '/', 'o', 'i', '_', 'x' }; |
| 21752 | |
| 21753 | static const char_T tmp_4[5] = { '/', 'o', 'i', '_', 'y' }; |
| 21754 | |
| 21755 | static const char_T tmp_5[5] = { '/', 'o', 'i', '_', 'z' }; |
| 21756 | |
| 21757 | static const char_T tmp_6[5] = { '/', 'o', 'i', '_', 'w' }; |
| 21758 | |
| 21759 | static const char_T tmp_7[5] = { '/', 'p', 'i', '_', 'x' }; |
| 21760 | |
| 21761 | static const char_T tmp_8[5] = { '/', 'p', 'i', '_', 'y' }; |
| 21762 | |
| 21763 | static const char_T tmp_9[5] = { '/', 'p', 'i', '_', 'z' }; |
| 21764 | |
| 21765 | static const char_T tmp_a[5] = { '/', 'o', 'f', '_', 'x' }; |
| 21766 | |
| 21767 | static const char_T tmp_b[5] = { '/', 'o', 'f', '_', 'y' }; |
| 21768 | |
| 21769 | static const char_T tmp_c[5] = { '/', 'o', 'f', '_', 'z' }; |
| 21770 | |
| 21771 | static const char_T tmp_d[5] = { '/', 'o', 'f', '_', 'w' }; |
| 21772 | |
| 21773 | static const char_T tmp_e[5] = { '/', 'p', 'f', '_', 'x' }; |
| 21774 | |
| 21775 | static const char_T tmp_f[5] = { '/', 'p', 'f', '_', 'y' }; |
| 21776 | |
| 21777 | static const char_T tmp_g[5] = { '/', 'p', 'f', '_', 'z' }; |
| 21778 | |
| 21779 | static const char_T tmp_h[10] = { '/', 'w', 'e', 'i', 'g', 'h', 't', '_', |
| 21780 | 'o', 'x' }; |
| 21781 | |
| 21782 | static const char_T tmp_i[10] = { '/', 'w', 'e', 'i', 'g', 'h', 't', '_', |
| 21783 | 'o', 'y' }; |
| 21784 | |
| 21785 | static const char_T tmp_j[10] = { '/', 'w', 'e', 'i', 'g', 'h', 't', '_', |
| 21786 | 'o', 'z' }; |
| 21787 | |
| 21788 | static const char_T tmp_k[10] = { '/', 'w', 'e', 'i', 'g', 'h', 't', '_', |
| 21789 | 'p', 'x' }; |
| 21790 | |
| 21791 | static const char_T tmp_l[10] = { '/', 'w', 'e', 'i', 'g', 'h', 't', '_', |
| 21792 | 'p', 'y' }; |
| 21793 | |
| 21794 | static const char_T tmp_m[10] = { '/', 'w', 'e', 'i', 'g', 'h', 't', '_', |
| 21795 | 'p', 'z' }; |
| 21796 | |
| 21797 | // SystemInitialize for Atomic SubSystem: '<Root>/Subscribe' |
| 21798 | // SystemInitialize for Enabled SubSystem: '<S7>/Enabled Subsystem' |
| 21799 | // SystemInitialize for Outport: '<S10>/Out1' |
| 21800 | cartesian_trajectory_planner_B.In1 = cartesian_trajectory_planner_P.Out1_Y0; |
| 21801 | |
| 21802 | // End of SystemInitialize for SubSystem: '<S7>/Enabled Subsystem' |
| 21803 | |
| 21804 | // Start for MATLABSystem: '<S7>/SourceBlock' |
| 21805 | cartesian_trajectory_planner_DW.obj_j.matlabCodegenIsDeleted = false; |
| 21806 | cartesian_trajectory_planner_DW.obj_j.isInitialized = 1; |
| 21807 | for (cartesian_trajectory_planner_B.i_mq = 0; |
| 21808 | cartesian_trajectory_planner_B.i_mq < 6; |
| 21809 | cartesian_trajectory_planner_B.i_mq++) { |
| 21810 | // InitializeConditions for Delay: '<Root>/Delay' |
| 21811 | cartesian_trajectory_planner_DW.Delay_DSTATE[cartesian_trajectory_planner_B.i_mq] |
| 21812 | = |
| 21813 | cartesian_trajectory_planner_P.Delay_InitialCondition[cartesian_trajectory_planner_B.i_mq]; |
| 21814 | |
| 21815 | // Start for MATLABSystem: '<S7>/SourceBlock' |
| 21816 | cartesian_trajectory_planner_B.cv3[cartesian_trajectory_planner_B.i_mq] = |
| 21817 | tmp_0[cartesian_trajectory_planner_B.i_mq]; |
| 21818 | } |
| 21819 | |
| 21820 | // Start for MATLABSystem: '<S7>/SourceBlock' |
| 21821 | cartesian_trajectory_planner_B.cv3[6] = '\x00'; |
| 21822 | Sub_cartesian_trajectory_planner_269.createSubscriber |
| 21823 | (cartesian_trajectory_planner_B.cv3, 1); |
| 21824 | cartesian_trajectory_planner_DW.obj_j.isSetupComplete = true; |
| 21825 | |
| 21826 | // End of SystemInitialize for SubSystem: '<Root>/Subscribe' |
| 21827 | |
| 21828 | // SystemInitialize for Atomic SubSystem: '<Root>/Publish' |
| 21829 | // Start for MATLABSystem: '<S6>/SinkBlock' |
| 21830 | cartesian_trajectory_planner_DW.obj_kh.matlabCodegenIsDeleted = false; |
| 21831 | cartesian_trajectory_planner_DW.obj_kh.isInitialized = 1; |
| 21832 | for (cartesian_trajectory_planner_B.i_mq = 0; |
| 21833 | cartesian_trajectory_planner_B.i_mq < 17; |
| 21834 | cartesian_trajectory_planner_B.i_mq++) { |
| 21835 | cartesian_trajectory_planner_B.cv[cartesian_trajectory_planner_B.i_mq] = |
| 21836 | tmp_1[cartesian_trajectory_planner_B.i_mq]; |
| 21837 | } |
| 21838 | |
| 21839 | cartesian_trajectory_planner_B.cv[17] = '\x00'; |
| 21840 | Pub_cartesian_trajectory_planner_267.createPublisher |
| 21841 | (cartesian_trajectory_planner_B.cv, 1); |
| 21842 | cartesian_trajectory_planner_DW.obj_kh.isSetupComplete = true; |
| 21843 | |
| 21844 | // End of Start for MATLABSystem: '<S6>/SinkBlock' |
| 21845 | // End of SystemInitialize for SubSystem: '<Root>/Publish' |
| 21846 | |
| 21847 | // Start for MATLABSystem: '<S8>/Get Parameter' |
| 21848 | cartesian_trajectory_planner_DW.obj_k.matlabCodegenIsDeleted = false; |
| 21849 | cartesian_trajectory_planner_DW.obj_k.isInitialized = 1; |
| 21850 | for (cartesian_trajectory_planner_B.i_mq = 0; |
| 21851 | cartesian_trajectory_planner_B.i_mq < 12; |
| 21852 | cartesian_trajectory_planner_B.i_mq++) { |
| 21853 | cartesian_trajectory_planner_B.cv1[cartesian_trajectory_planner_B.i_mq] = |
| 21854 | tmp_2[cartesian_trajectory_planner_B.i_mq]; |
| 21855 | } |
| 21856 | |
| 21857 | cartesian_trajectory_planner_B.cv1[12] = '\x00'; |
| 21858 | ParamGet_cartesian_trajectory_planner_272.initialize |
| 21859 | (cartesian_trajectory_planner_B.cv1); |
| 21860 | ParamGet_cartesian_trajectory_planner_272.initialize_error_codes(0, 1, 2, 3); |
| 21861 | ParamGet_cartesian_trajectory_planner_272.set_initial_value(40.0); |
| 21862 | cartesian_trajectory_planner_DW.obj_k.isSetupComplete = true; |
| 21863 | |
| 21864 | // End of Start for MATLABSystem: '<S8>/Get Parameter' |
| 21865 | |
| 21866 | // Start for MATLABSystem: '<S8>/Get Parameter1' |
| 21867 | cartesian_trajectory_planner_DW.obj_ky.matlabCodegenIsDeleted = false; |
| 21868 | cartesian_trajectory_planner_DW.obj_ky.isInitialized = 1; |
| 21869 | cartesian_trajectory_planner_B.cv5[0] = '/'; |
| 21870 | cartesian_trajectory_planner_B.cv5[1] = 't'; |
| 21871 | cartesian_trajectory_planner_B.cv5[2] = 'f'; |
| 21872 | cartesian_trajectory_planner_B.cv5[3] = '\x00'; |
| 21873 | ParamGet_cartesian_trajectory_planner_273.initialize |
| 21874 | (cartesian_trajectory_planner_B.cv5); |
| 21875 | ParamGet_cartesian_trajectory_planner_273.initialize_error_codes(0, 1, 2, 3); |
| 21876 | ParamGet_cartesian_trajectory_planner_273.set_initial_value(70.0); |
| 21877 | cartesian_trajectory_planner_DW.obj_ky.isSetupComplete = true; |
| 21878 | |
| 21879 | // Start for MATLABSystem: '<S11>/Get Parameter3' |
| 21880 | cartesian_trajectory_planner_DW.obj_g.matlabCodegenIsDeleted = false; |
| 21881 | cartesian_trajectory_planner_DW.obj_g.isInitialized = 1; |
| 21882 | for (cartesian_trajectory_planner_B.i_mq = 0; |
| 21883 | cartesian_trajectory_planner_B.i_mq < 5; |
| 21884 | cartesian_trajectory_planner_B.i_mq++) { |
| 21885 | cartesian_trajectory_planner_B.cv4[cartesian_trajectory_planner_B.i_mq] = |
| 21886 | tmp_3[cartesian_trajectory_planner_B.i_mq]; |
| 21887 | } |
| 21888 | |
| 21889 | cartesian_trajectory_planner_B.cv4[5] = '\x00'; |
| 21890 | ParamGet_cartesian_trajectory_planner_280.initialize |
| 21891 | (cartesian_trajectory_planner_B.cv4); |
| 21892 | ParamGet_cartesian_trajectory_planner_280.initialize_error_codes(0, 1, 2, 3); |
| 21893 | ParamGet_cartesian_trajectory_planner_280.set_initial_value(0.0); |
| 21894 | cartesian_trajectory_planner_DW.obj_g.isSetupComplete = true; |
| 21895 | |
| 21896 | // End of Start for MATLABSystem: '<S11>/Get Parameter3' |
| 21897 | |
| 21898 | // Start for MATLABSystem: '<S11>/Get Parameter4' |
| 21899 | cartesian_trajectory_planner_DW.obj_or.matlabCodegenIsDeleted = false; |
| 21900 | cartesian_trajectory_planner_DW.obj_or.isInitialized = 1; |
| 21901 | for (cartesian_trajectory_planner_B.i_mq = 0; |
| 21902 | cartesian_trajectory_planner_B.i_mq < 5; |
| 21903 | cartesian_trajectory_planner_B.i_mq++) { |
| 21904 | cartesian_trajectory_planner_B.cv4[cartesian_trajectory_planner_B.i_mq] = |
| 21905 | tmp_4[cartesian_trajectory_planner_B.i_mq]; |
| 21906 | } |
| 21907 | |
| 21908 | cartesian_trajectory_planner_B.cv4[5] = '\x00'; |
| 21909 | ParamGet_cartesian_trajectory_planner_281.initialize |
| 21910 | (cartesian_trajectory_planner_B.cv4); |
| 21911 | ParamGet_cartesian_trajectory_planner_281.initialize_error_codes(0, 1, 2, 3); |
| 21912 | ParamGet_cartesian_trajectory_planner_281.set_initial_value(0.0); |
| 21913 | cartesian_trajectory_planner_DW.obj_or.isSetupComplete = true; |
| 21914 | |
| 21915 | // End of Start for MATLABSystem: '<S11>/Get Parameter4' |
| 21916 | |
| 21917 | // Start for MATLABSystem: '<S11>/Get Parameter5' |
| 21918 | cartesian_trajectory_planner_DW.obj_dz.matlabCodegenIsDeleted = false; |
| 21919 | cartesian_trajectory_planner_DW.obj_dz.isInitialized = 1; |
| 21920 | for (cartesian_trajectory_planner_B.i_mq = 0; |
| 21921 | cartesian_trajectory_planner_B.i_mq < 5; |
| 21922 | cartesian_trajectory_planner_B.i_mq++) { |
| 21923 | cartesian_trajectory_planner_B.cv4[cartesian_trajectory_planner_B.i_mq] = |
| 21924 | tmp_5[cartesian_trajectory_planner_B.i_mq]; |
| 21925 | } |
| 21926 | |
| 21927 | cartesian_trajectory_planner_B.cv4[5] = '\x00'; |
| 21928 | ParamGet_cartesian_trajectory_planner_282.initialize |
| 21929 | (cartesian_trajectory_planner_B.cv4); |
| 21930 | ParamGet_cartesian_trajectory_planner_282.initialize_error_codes(0, 1, 2, 3); |
| 21931 | ParamGet_cartesian_trajectory_planner_282.set_initial_value(0.0); |
| 21932 | cartesian_trajectory_planner_DW.obj_dz.isSetupComplete = true; |
| 21933 | |
| 21934 | // End of Start for MATLABSystem: '<S11>/Get Parameter5' |
| 21935 | |
| 21936 | // Start for MATLABSystem: '<S11>/Get Parameter6' |
| 21937 | cartesian_trajectory_planner_DW.obj_di.matlabCodegenIsDeleted = false; |
| 21938 | cartesian_trajectory_planner_DW.obj_di.isInitialized = 1; |
| 21939 | for (cartesian_trajectory_planner_B.i_mq = 0; |
| 21940 | cartesian_trajectory_planner_B.i_mq < 5; |
| 21941 | cartesian_trajectory_planner_B.i_mq++) { |
| 21942 | cartesian_trajectory_planner_B.cv4[cartesian_trajectory_planner_B.i_mq] = |
| 21943 | tmp_6[cartesian_trajectory_planner_B.i_mq]; |
| 21944 | } |
| 21945 | |
| 21946 | cartesian_trajectory_planner_B.cv4[5] = '\x00'; |
| 21947 | ParamGet_cartesian_trajectory_planner_283.initialize |
| 21948 | (cartesian_trajectory_planner_B.cv4); |
| 21949 | ParamGet_cartesian_trajectory_planner_283.initialize_error_codes(0, 1, 2, 3); |
| 21950 | ParamGet_cartesian_trajectory_planner_283.set_initial_value(1.0); |
| 21951 | cartesian_trajectory_planner_DW.obj_di.isSetupComplete = true; |
| 21952 | |
| 21953 | // End of Start for MATLABSystem: '<S11>/Get Parameter6' |
| 21954 | |
| 21955 | // Start for MATLABSystem: '<S11>/Get Parameter' |
| 21956 | cartesian_trajectory_planner_DW.obj_b.matlabCodegenIsDeleted = false; |
| 21957 | cartesian_trajectory_planner_DW.obj_b.isInitialized = 1; |
| 21958 | for (cartesian_trajectory_planner_B.i_mq = 0; |
| 21959 | cartesian_trajectory_planner_B.i_mq < 5; |
| 21960 | cartesian_trajectory_planner_B.i_mq++) { |
| 21961 | cartesian_trajectory_planner_B.cv4[cartesian_trajectory_planner_B.i_mq] = |
| 21962 | tmp_7[cartesian_trajectory_planner_B.i_mq]; |
| 21963 | } |
| 21964 | |
| 21965 | cartesian_trajectory_planner_B.cv4[5] = '\x00'; |
| 21966 | ParamGet_cartesian_trajectory_planner_277.initialize |
| 21967 | (cartesian_trajectory_planner_B.cv4); |
| 21968 | ParamGet_cartesian_trajectory_planner_277.initialize_error_codes(0, 1, 2, 3); |
| 21969 | ParamGet_cartesian_trajectory_planner_277.set_initial_value(0.0); |
| 21970 | cartesian_trajectory_planner_DW.obj_b.isSetupComplete = true; |
| 21971 | |
| 21972 | // End of Start for MATLABSystem: '<S11>/Get Parameter' |
| 21973 | |
| 21974 | // Start for MATLABSystem: '<S11>/Get Parameter1' |
| 21975 | cartesian_trajectory_planner_DW.obj_e0t.matlabCodegenIsDeleted = false; |
| 21976 | cartesian_trajectory_planner_DW.obj_e0t.isInitialized = 1; |
| 21977 | for (cartesian_trajectory_planner_B.i_mq = 0; |
| 21978 | cartesian_trajectory_planner_B.i_mq < 5; |
| 21979 | cartesian_trajectory_planner_B.i_mq++) { |
| 21980 | cartesian_trajectory_planner_B.cv4[cartesian_trajectory_planner_B.i_mq] = |
| 21981 | tmp_8[cartesian_trajectory_planner_B.i_mq]; |
| 21982 | } |
| 21983 | |
| 21984 | cartesian_trajectory_planner_B.cv4[5] = '\x00'; |
| 21985 | ParamGet_cartesian_trajectory_planner_278.initialize |
| 21986 | (cartesian_trajectory_planner_B.cv4); |
| 21987 | ParamGet_cartesian_trajectory_planner_278.initialize_error_codes(0, 1, 2, 3); |
| 21988 | ParamGet_cartesian_trajectory_planner_278.set_initial_value(0.0); |
| 21989 | cartesian_trajectory_planner_DW.obj_e0t.isSetupComplete = true; |
| 21990 | |
| 21991 | // End of Start for MATLABSystem: '<S11>/Get Parameter1' |
| 21992 | |
| 21993 | // Start for MATLABSystem: '<S11>/Get Parameter2' |
| 21994 | cartesian_trajectory_planner_DW.obj_pd.matlabCodegenIsDeleted = false; |
| 21995 | cartesian_trajectory_planner_DW.obj_pd.isInitialized = 1; |
| 21996 | for (cartesian_trajectory_planner_B.i_mq = 0; |
| 21997 | cartesian_trajectory_planner_B.i_mq < 5; |
| 21998 | cartesian_trajectory_planner_B.i_mq++) { |
| 21999 | cartesian_trajectory_planner_B.cv4[cartesian_trajectory_planner_B.i_mq] = |
| 22000 | tmp_9[cartesian_trajectory_planner_B.i_mq]; |
| 22001 | } |
| 22002 | |
| 22003 | cartesian_trajectory_planner_B.cv4[5] = '\x00'; |
| 22004 | ParamGet_cartesian_trajectory_planner_279.initialize |
| 22005 | (cartesian_trajectory_planner_B.cv4); |
| 22006 | ParamGet_cartesian_trajectory_planner_279.initialize_error_codes(0, 1, 2, 3); |
| 22007 | ParamGet_cartesian_trajectory_planner_279.set_initial_value(0.99); |
| 22008 | cartesian_trajectory_planner_DW.obj_pd.isSetupComplete = true; |
| 22009 | |
| 22010 | // End of Start for MATLABSystem: '<S11>/Get Parameter2' |
| 22011 | |
| 22012 | // Start for MATLABSystem: '<S12>/Get Parameter3' |
| 22013 | cartesian_trajectory_planner_DW.obj_f4.matlabCodegenIsDeleted = false; |
| 22014 | cartesian_trajectory_planner_DW.obj_f4.isInitialized = 1; |
| 22015 | for (cartesian_trajectory_planner_B.i_mq = 0; |
| 22016 | cartesian_trajectory_planner_B.i_mq < 5; |
| 22017 | cartesian_trajectory_planner_B.i_mq++) { |
| 22018 | cartesian_trajectory_planner_B.cv4[cartesian_trajectory_planner_B.i_mq] = |
| 22019 | tmp_a[cartesian_trajectory_planner_B.i_mq]; |
| 22020 | } |
| 22021 | |
| 22022 | cartesian_trajectory_planner_B.cv4[5] = '\x00'; |
| 22023 | ParamGet_cartesian_trajectory_planner_292.initialize |
| 22024 | (cartesian_trajectory_planner_B.cv4); |
| 22025 | ParamGet_cartesian_trajectory_planner_292.initialize_error_codes(0, 1, 2, 3); |
| 22026 | ParamGet_cartesian_trajectory_planner_292.set_initial_value(0.39); |
| 22027 | cartesian_trajectory_planner_DW.obj_f4.isSetupComplete = true; |
| 22028 | |
| 22029 | // End of Start for MATLABSystem: '<S12>/Get Parameter3' |
| 22030 | |
| 22031 | // Start for MATLABSystem: '<S12>/Get Parameter4' |
| 22032 | cartesian_trajectory_planner_DW.obj_en.matlabCodegenIsDeleted = false; |
| 22033 | cartesian_trajectory_planner_DW.obj_en.isInitialized = 1; |
| 22034 | for (cartesian_trajectory_planner_B.i_mq = 0; |
| 22035 | cartesian_trajectory_planner_B.i_mq < 5; |
| 22036 | cartesian_trajectory_planner_B.i_mq++) { |
| 22037 | cartesian_trajectory_planner_B.cv4[cartesian_trajectory_planner_B.i_mq] = |
| 22038 | tmp_b[cartesian_trajectory_planner_B.i_mq]; |
| 22039 | } |
| 22040 | |
| 22041 | cartesian_trajectory_planner_B.cv4[5] = '\x00'; |
| 22042 | ParamGet_cartesian_trajectory_planner_293.initialize |
| 22043 | (cartesian_trajectory_planner_B.cv4); |
| 22044 | ParamGet_cartesian_trajectory_planner_293.initialize_error_codes(0, 1, 2, 3); |
| 22045 | ParamGet_cartesian_trajectory_planner_293.set_initial_value(0.89); |
| 22046 | cartesian_trajectory_planner_DW.obj_en.isSetupComplete = true; |
| 22047 | |
| 22048 | // End of Start for MATLABSystem: '<S12>/Get Parameter4' |
| 22049 | |
| 22050 | // Start for MATLABSystem: '<S12>/Get Parameter5' |
| 22051 | cartesian_trajectory_planner_DW.obj_l0.matlabCodegenIsDeleted = false; |
| 22052 | cartesian_trajectory_planner_DW.obj_l0.isInitialized = 1; |
| 22053 | for (cartesian_trajectory_planner_B.i_mq = 0; |
| 22054 | cartesian_trajectory_planner_B.i_mq < 5; |
| 22055 | cartesian_trajectory_planner_B.i_mq++) { |
| 22056 | cartesian_trajectory_planner_B.cv4[cartesian_trajectory_planner_B.i_mq] = |
| 22057 | tmp_c[cartesian_trajectory_planner_B.i_mq]; |
| 22058 | } |
| 22059 | |
| 22060 | cartesian_trajectory_planner_B.cv4[5] = '\x00'; |
| 22061 | ParamGet_cartesian_trajectory_planner_294.initialize |
| 22062 | (cartesian_trajectory_planner_B.cv4); |
| 22063 | ParamGet_cartesian_trajectory_planner_294.initialize_error_codes(0, 1, 2, 3); |
| 22064 | ParamGet_cartesian_trajectory_planner_294.set_initial_value(0.2); |
| 22065 | cartesian_trajectory_planner_DW.obj_l0.isSetupComplete = true; |
| 22066 | |
| 22067 | // End of Start for MATLABSystem: '<S12>/Get Parameter5' |
| 22068 | |
| 22069 | // Start for MATLABSystem: '<S12>/Get Parameter6' |
| 22070 | cartesian_trajectory_planner_DW.obj_n.matlabCodegenIsDeleted = false; |
| 22071 | cartesian_trajectory_planner_DW.obj_n.isInitialized = 1; |
| 22072 | for (cartesian_trajectory_planner_B.i_mq = 0; |
| 22073 | cartesian_trajectory_planner_B.i_mq < 5; |
| 22074 | cartesian_trajectory_planner_B.i_mq++) { |
| 22075 | cartesian_trajectory_planner_B.cv4[cartesian_trajectory_planner_B.i_mq] = |
| 22076 | tmp_d[cartesian_trajectory_planner_B.i_mq]; |
| 22077 | } |
| 22078 | |
| 22079 | cartesian_trajectory_planner_B.cv4[5] = '\x00'; |
| 22080 | ParamGet_cartesian_trajectory_planner_295.initialize |
| 22081 | (cartesian_trajectory_planner_B.cv4); |
| 22082 | ParamGet_cartesian_trajectory_planner_295.initialize_error_codes(0, 1, 2, 3); |
| 22083 | ParamGet_cartesian_trajectory_planner_295.set_initial_value(-0.12); |
| 22084 | cartesian_trajectory_planner_DW.obj_n.isSetupComplete = true; |
| 22085 | |
| 22086 | // End of Start for MATLABSystem: '<S12>/Get Parameter6' |
| 22087 | |
| 22088 | // Start for MATLABSystem: '<S12>/Get Parameter' |
| 22089 | cartesian_trajectory_planner_DW.obj_d.matlabCodegenIsDeleted = false; |
| 22090 | cartesian_trajectory_planner_DW.obj_d.isInitialized = 1; |
| 22091 | for (cartesian_trajectory_planner_B.i_mq = 0; |
| 22092 | cartesian_trajectory_planner_B.i_mq < 5; |
| 22093 | cartesian_trajectory_planner_B.i_mq++) { |
| 22094 | cartesian_trajectory_planner_B.cv4[cartesian_trajectory_planner_B.i_mq] = |
| 22095 | tmp_e[cartesian_trajectory_planner_B.i_mq]; |
| 22096 | } |
| 22097 | |
| 22098 | cartesian_trajectory_planner_B.cv4[5] = '\x00'; |
| 22099 | ParamGet_cartesian_trajectory_planner_289.initialize |
| 22100 | (cartesian_trajectory_planner_B.cv4); |
| 22101 | ParamGet_cartesian_trajectory_planner_289.initialize_error_codes(0, 1, 2, 3); |
| 22102 | ParamGet_cartesian_trajectory_planner_289.set_initial_value(0.21); |
| 22103 | cartesian_trajectory_planner_DW.obj_d.isSetupComplete = true; |
| 22104 | |
| 22105 | // End of Start for MATLABSystem: '<S12>/Get Parameter' |
| 22106 | |
| 22107 | // Start for MATLABSystem: '<S12>/Get Parameter1' |
| 22108 | cartesian_trajectory_planner_DW.obj_oq.matlabCodegenIsDeleted = false; |
| 22109 | cartesian_trajectory_planner_DW.obj_oq.isInitialized = 1; |
| 22110 | for (cartesian_trajectory_planner_B.i_mq = 0; |
| 22111 | cartesian_trajectory_planner_B.i_mq < 5; |
| 22112 | cartesian_trajectory_planner_B.i_mq++) { |
| 22113 | cartesian_trajectory_planner_B.cv4[cartesian_trajectory_planner_B.i_mq] = |
| 22114 | tmp_f[cartesian_trajectory_planner_B.i_mq]; |
| 22115 | } |
| 22116 | |
| 22117 | cartesian_trajectory_planner_B.cv4[5] = '\x00'; |
| 22118 | ParamGet_cartesian_trajectory_planner_290.initialize |
| 22119 | (cartesian_trajectory_planner_B.cv4); |
| 22120 | ParamGet_cartesian_trajectory_planner_290.initialize_error_codes(0, 1, 2, 3); |
| 22121 | ParamGet_cartesian_trajectory_planner_290.set_initial_value(0.89); |
| 22122 | cartesian_trajectory_planner_DW.obj_oq.isSetupComplete = true; |
| 22123 | |
| 22124 | // End of Start for MATLABSystem: '<S12>/Get Parameter1' |
| 22125 | |
| 22126 | // Start for MATLABSystem: '<S12>/Get Parameter2' |
| 22127 | cartesian_trajectory_planner_DW.obj_es.matlabCodegenIsDeleted = false; |
| 22128 | cartesian_trajectory_planner_DW.obj_es.isInitialized = 1; |
| 22129 | for (cartesian_trajectory_planner_B.i_mq = 0; |
| 22130 | cartesian_trajectory_planner_B.i_mq < 5; |
| 22131 | cartesian_trajectory_planner_B.i_mq++) { |
| 22132 | cartesian_trajectory_planner_B.cv4[cartesian_trajectory_planner_B.i_mq] = |
| 22133 | tmp_g[cartesian_trajectory_planner_B.i_mq]; |
| 22134 | } |
| 22135 | |
| 22136 | cartesian_trajectory_planner_B.cv4[5] = '\x00'; |
| 22137 | ParamGet_cartesian_trajectory_planner_291.initialize |
| 22138 | (cartesian_trajectory_planner_B.cv4); |
| 22139 | ParamGet_cartesian_trajectory_planner_291.initialize_error_codes(0, 1, 2, 3); |
| 22140 | ParamGet_cartesian_trajectory_planner_291.set_initial_value(0.2); |
| 22141 | cartesian_trajectory_planner_DW.obj_es.isSetupComplete = true; |
| 22142 | |
| 22143 | // End of Start for MATLABSystem: '<S12>/Get Parameter2' |
| 22144 | |
| 22145 | // Start for MATLABSystem: '<Root>/Transform Trajectory' |
| 22146 | memcpy(&cartesian_trajectory_planner_DW.obj_e.TimeScaling[0], &tmp[0], 33U * |
| 22147 | sizeof(real_T)); |
| 22148 | cartesian_trajectory_planner_DW.obj_e.isInitialized = 0; |
| 22149 | cartesian_traj_SystemCore_setup(&cartesian_trajectory_planner_DW.obj_e); |
| 22150 | |
| 22151 | // Start for MATLABSystem: '<S9>/Get Parameter' |
| 22152 | cartesian_trajectory_planner_DW.obj_c.matlabCodegenIsDeleted = false; |
| 22153 | cartesian_trajectory_planner_DW.obj_c.isInitialized = 1; |
| 22154 | for (cartesian_trajectory_planner_B.i_mq = 0; |
| 22155 | cartesian_trajectory_planner_B.i_mq < 10; |
| 22156 | cartesian_trajectory_planner_B.i_mq++) { |
| 22157 | cartesian_trajectory_planner_B.cv2[cartesian_trajectory_planner_B.i_mq] = |
| 22158 | tmp_h[cartesian_trajectory_planner_B.i_mq]; |
| 22159 | } |
| 22160 | |
| 22161 | cartesian_trajectory_planner_B.cv2[10] = '\x00'; |
| 22162 | ParamGet_cartesian_trajectory_planner_301.initialize |
| 22163 | (cartesian_trajectory_planner_B.cv2); |
| 22164 | ParamGet_cartesian_trajectory_planner_301.initialize_error_codes(0, 1, 2, 3); |
| 22165 | ParamGet_cartesian_trajectory_planner_301.set_initial_value(0.0); |
| 22166 | cartesian_trajectory_planner_DW.obj_c.isSetupComplete = true; |
| 22167 | |
| 22168 | // End of Start for MATLABSystem: '<S9>/Get Parameter' |
| 22169 | |
| 22170 | // Start for MATLABSystem: '<S9>/Get Parameter1' |
| 22171 | cartesian_trajectory_planner_DW.obj_f.matlabCodegenIsDeleted = false; |
| 22172 | cartesian_trajectory_planner_DW.obj_f.isInitialized = 1; |
| 22173 | for (cartesian_trajectory_planner_B.i_mq = 0; |
| 22174 | cartesian_trajectory_planner_B.i_mq < 10; |
| 22175 | cartesian_trajectory_planner_B.i_mq++) { |
| 22176 | cartesian_trajectory_planner_B.cv2[cartesian_trajectory_planner_B.i_mq] = |
| 22177 | tmp_i[cartesian_trajectory_planner_B.i_mq]; |
| 22178 | } |
| 22179 | |
| 22180 | cartesian_trajectory_planner_B.cv2[10] = '\x00'; |
| 22181 | ParamGet_cartesian_trajectory_planner_302.initialize |
| 22182 | (cartesian_trajectory_planner_B.cv2); |
| 22183 | ParamGet_cartesian_trajectory_planner_302.initialize_error_codes(0, 1, 2, 3); |
| 22184 | ParamGet_cartesian_trajectory_planner_302.set_initial_value(0.0); |
| 22185 | cartesian_trajectory_planner_DW.obj_f.isSetupComplete = true; |
| 22186 | |
| 22187 | // End of Start for MATLABSystem: '<S9>/Get Parameter1' |
| 22188 | |
| 22189 | // Start for MATLABSystem: '<S9>/Get Parameter2' |
| 22190 | cartesian_trajectory_planner_DW.obj_e0.matlabCodegenIsDeleted = false; |
| 22191 | cartesian_trajectory_planner_DW.obj_e0.isInitialized = 1; |
| 22192 | for (cartesian_trajectory_planner_B.i_mq = 0; |
| 22193 | cartesian_trajectory_planner_B.i_mq < 10; |
| 22194 | cartesian_trajectory_planner_B.i_mq++) { |
| 22195 | cartesian_trajectory_planner_B.cv2[cartesian_trajectory_planner_B.i_mq] = |
| 22196 | tmp_j[cartesian_trajectory_planner_B.i_mq]; |
| 22197 | } |
| 22198 | |
| 22199 | cartesian_trajectory_planner_B.cv2[10] = '\x00'; |
| 22200 | ParamGet_cartesian_trajectory_planner_303.initialize |
| 22201 | (cartesian_trajectory_planner_B.cv2); |
| 22202 | ParamGet_cartesian_trajectory_planner_303.initialize_error_codes(0, 1, 2, 3); |
| 22203 | ParamGet_cartesian_trajectory_planner_303.set_initial_value(0.0); |
| 22204 | cartesian_trajectory_planner_DW.obj_e0.isSetupComplete = true; |
| 22205 | |
| 22206 | // End of Start for MATLABSystem: '<S9>/Get Parameter2' |
| 22207 | |
| 22208 | // Start for MATLABSystem: '<S9>/Get Parameter3' |
| 22209 | cartesian_trajectory_planner_DW.obj_a.matlabCodegenIsDeleted = false; |
| 22210 | cartesian_trajectory_planner_DW.obj_a.isInitialized = 1; |
| 22211 | for (cartesian_trajectory_planner_B.i_mq = 0; |
| 22212 | cartesian_trajectory_planner_B.i_mq < 10; |
| 22213 | cartesian_trajectory_planner_B.i_mq++) { |
| 22214 | cartesian_trajectory_planner_B.cv2[cartesian_trajectory_planner_B.i_mq] = |
| 22215 | tmp_k[cartesian_trajectory_planner_B.i_mq]; |
| 22216 | } |
| 22217 | |
| 22218 | cartesian_trajectory_planner_B.cv2[10] = '\x00'; |
| 22219 | ParamGet_cartesian_trajectory_planner_304.initialize |
| 22220 | (cartesian_trajectory_planner_B.cv2); |
| 22221 | ParamGet_cartesian_trajectory_planner_304.initialize_error_codes(0, 1, 2, 3); |
| 22222 | ParamGet_cartesian_trajectory_planner_304.set_initial_value(1.0); |
| 22223 | cartesian_trajectory_planner_DW.obj_a.isSetupComplete = true; |
| 22224 | |
| 22225 | // End of Start for MATLABSystem: '<S9>/Get Parameter3' |
| 22226 | |
| 22227 | // Start for MATLABSystem: '<S9>/Get Parameter4' |
| 22228 | cartesian_trajectory_planner_DW.obj_p.matlabCodegenIsDeleted = false; |
| 22229 | cartesian_trajectory_planner_DW.obj_p.isInitialized = 1; |
| 22230 | for (cartesian_trajectory_planner_B.i_mq = 0; |
| 22231 | cartesian_trajectory_planner_B.i_mq < 10; |
| 22232 | cartesian_trajectory_planner_B.i_mq++) { |
| 22233 | cartesian_trajectory_planner_B.cv2[cartesian_trajectory_planner_B.i_mq] = |
| 22234 | tmp_l[cartesian_trajectory_planner_B.i_mq]; |
| 22235 | } |
| 22236 | |
| 22237 | cartesian_trajectory_planner_B.cv2[10] = '\x00'; |
| 22238 | ParamGet_cartesian_trajectory_planner_305.initialize |
| 22239 | (cartesian_trajectory_planner_B.cv2); |
| 22240 | ParamGet_cartesian_trajectory_planner_305.initialize_error_codes(0, 1, 2, 3); |
| 22241 | ParamGet_cartesian_trajectory_planner_305.set_initial_value(1.0); |
| 22242 | cartesian_trajectory_planner_DW.obj_p.isSetupComplete = true; |
| 22243 | |
| 22244 | // End of Start for MATLABSystem: '<S9>/Get Parameter4' |
| 22245 | |
| 22246 | // Start for MATLABSystem: '<S9>/Get Parameter5' |
| 22247 | cartesian_trajectory_planner_DW.obj_l.matlabCodegenIsDeleted = false; |
| 22248 | cartesian_trajectory_planner_DW.obj_l.isInitialized = 1; |
| 22249 | for (cartesian_trajectory_planner_B.i_mq = 0; |
| 22250 | cartesian_trajectory_planner_B.i_mq < 10; |
| 22251 | cartesian_trajectory_planner_B.i_mq++) { |
| 22252 | cartesian_trajectory_planner_B.cv2[cartesian_trajectory_planner_B.i_mq] = |
| 22253 | tmp_m[cartesian_trajectory_planner_B.i_mq]; |
| 22254 | } |
| 22255 | |
| 22256 | cartesian_trajectory_planner_B.cv2[10] = '\x00'; |
| 22257 | ParamGet_cartesian_trajectory_planner_306.initialize |
| 22258 | (cartesian_trajectory_planner_B.cv2); |
| 22259 | ParamGet_cartesian_trajectory_planner_306.initialize_error_codes(0, 1, 2, 3); |
| 22260 | ParamGet_cartesian_trajectory_planner_306.set_initial_value(1.0); |
| 22261 | cartesian_trajectory_planner_DW.obj_l.isSetupComplete = true; |
| 22262 | |
| 22263 | // End of Start for MATLABSystem: '<S9>/Get Parameter5' |
| 22264 | emxInitStruct_robotics_slmanip_(&cartesian_trajectory_planner_DW.obj); |
| 22265 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_1); |
| 22266 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_50); |
| 22267 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_49); |
| 22268 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_48); |
| 22269 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_47); |
| 22270 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_46); |
| 22271 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_45); |
| 22272 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_44); |
| 22273 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_43); |
| 22274 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_42); |
| 22275 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_41); |
| 22276 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_40); |
| 22277 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_39); |
| 22278 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_38); |
| 22279 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_37); |
| 22280 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_36); |
| 22281 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_35); |
| 22282 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_34); |
| 22283 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_33); |
| 22284 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_32); |
| 22285 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_31); |
| 22286 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_30); |
| 22287 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_29); |
| 22288 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_28); |
| 22289 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_27); |
| 22290 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_26); |
| 22291 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_25); |
| 22292 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_24); |
| 22293 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_23); |
| 22294 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_22); |
| 22295 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_21); |
| 22296 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_20); |
| 22297 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_19); |
| 22298 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_18); |
| 22299 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_17); |
| 22300 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_16); |
| 22301 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_15); |
| 22302 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_14); |
| 22303 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_13); |
| 22304 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_12); |
| 22305 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_11); |
| 22306 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_10); |
| 22307 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_9); |
| 22308 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_8); |
| 22309 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_7); |
| 22310 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_6); |
| 22311 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_5); |
| 22312 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_4); |
| 22313 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_3); |
| 22314 | emxInitStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_2); |
| 22315 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_51); |
| 22316 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_82); |
| 22317 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_81); |
| 22318 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_80); |
| 22319 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_79); |
| 22320 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_78); |
| 22321 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_77); |
| 22322 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_76); |
| 22323 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_75); |
| 22324 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_74); |
| 22325 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_73); |
| 22326 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_72); |
| 22327 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_71); |
| 22328 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_70); |
| 22329 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_69); |
| 22330 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_68); |
| 22331 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_67); |
| 22332 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_66); |
| 22333 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_65); |
| 22334 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_64); |
| 22335 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_63); |
| 22336 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_62); |
| 22337 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_61); |
| 22338 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_60); |
| 22339 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_59); |
| 22340 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_58); |
| 22341 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_57); |
| 22342 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_56); |
| 22343 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_55); |
| 22344 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_54); |
| 22345 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_53); |
| 22346 | emxInitStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_52); |
| 22347 | emxInitStruct_x_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_83); |
| 22348 | emxInitStruct_x_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_84); |
| 22349 | emxInitStruct_f_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_85); |
| 22350 | emxInitStruct_h_robotics_core_i(&cartesian_trajectory_planner_DW.gobj_86); |
| 22351 | emxInitStruct_h_robotics_core_i(&cartesian_trajectory_planner_DW.gobj_87); |
| 22352 | emxInitStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_88); |
| 22353 | emxInitStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_103); |
| 22354 | emxInitStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_102); |
| 22355 | emxInitStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_101); |
| 22356 | emxInitStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_100); |
| 22357 | emxInitStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_99); |
| 22358 | emxInitStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_98); |
| 22359 | emxInitStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_97); |
| 22360 | emxInitStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_96); |
| 22361 | emxInitStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_95); |
| 22362 | emxInitStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_94); |
| 22363 | emxInitStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_93); |
| 22364 | emxInitStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_92); |
| 22365 | emxInitStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_91); |
| 22366 | emxInitStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_90); |
| 22367 | emxInitStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_89); |
| 22368 | |
| 22369 | // Start for MATLABSystem: '<S3>/MATLAB System' |
| 22370 | cartesian_trajectory_planner_DW.obj.IKInternal.matlabCodegenIsDeleted = true; |
| 22371 | cartesian_trajectory_planner_DW.obj.matlabCodegenIsDeleted = true; |
| 22372 | cartesian_tr_eml_rand_mt19937ar(cartesian_trajectory_planner_DW.state_b); |
| 22373 | cartesian_trajectory_planner_DW.obj.isInitialized = 0; |
| 22374 | cartesian_trajectory_planner_DW.obj.matlabCodegenIsDeleted = false; |
| 22375 | obj = &cartesian_trajectory_planner_DW.obj; |
| 22376 | cartesian_trajectory_planner_DW.obj.isInitialized = 1; |
| 22377 | c_RigidBodyTree_RigidBodyTree_a |
| 22378 | (&cartesian_trajectory_planner_DW.obj.TreeInternal, |
| 22379 | &cartesian_trajectory_planner_DW.gobj_90, |
| 22380 | &cartesian_trajectory_planner_DW.gobj_91, |
| 22381 | &cartesian_trajectory_planner_DW.gobj_92, |
| 22382 | &cartesian_trajectory_planner_DW.gobj_93, |
| 22383 | &cartesian_trajectory_planner_DW.gobj_94, |
| 22384 | &cartesian_trajectory_planner_DW.gobj_95, |
| 22385 | &cartesian_trajectory_planner_DW.gobj_96, |
| 22386 | &cartesian_trajectory_planner_DW.gobj_89); |
| 22387 | obj_0 = &cartesian_trajectory_planner_DW.obj.IKInternal; |
| 22388 | obj_0->isInitialized = 0; |
| 22389 | inverseKinematics_set_RigidBody(obj_0, &obj->TreeInternal, |
| 22390 | &cartesian_trajectory_planner_DW.gobj_69, |
| 22391 | &cartesian_trajectory_planner_DW.gobj_70, |
| 22392 | &cartesian_trajectory_planner_DW.gobj_71, |
| 22393 | &cartesian_trajectory_planner_DW.gobj_72, |
| 22394 | &cartesian_trajectory_planner_DW.gobj_73, |
| 22395 | &cartesian_trajectory_planner_DW.gobj_74, |
| 22396 | &cartesian_trajectory_planner_DW.gobj_75, |
| 22397 | &cartesian_trajectory_planner_DW.gobj_76, |
| 22398 | &cartesian_trajectory_planner_DW.gobj_77, |
| 22399 | &cartesian_trajectory_planner_DW.gobj_78, |
| 22400 | &cartesian_trajectory_planner_DW.gobj_79, |
| 22401 | &cartesian_trajectory_planner_DW.gobj_80, |
| 22402 | &cartesian_trajectory_planner_DW.gobj_81, |
| 22403 | &cartesian_trajectory_planner_DW.gobj_82, |
| 22404 | &cartesian_trajectory_planner_DW.gobj_51, |
| 22405 | &cartesian_trajectory_planner_DW.gobj_28, |
| 22406 | &cartesian_trajectory_planner_DW.gobj_29, |
| 22407 | &cartesian_trajectory_planner_DW.gobj_30, |
| 22408 | &cartesian_trajectory_planner_DW.gobj_31, |
| 22409 | &cartesian_trajectory_planner_DW.gobj_32, |
| 22410 | &cartesian_trajectory_planner_DW.gobj_33, |
| 22411 | &cartesian_trajectory_planner_DW.gobj_34, |
| 22412 | &cartesian_trajectory_planner_DW.gobj_35, |
| 22413 | &cartesian_trajectory_planner_DW.gobj_36, |
| 22414 | &cartesian_trajectory_planner_DW.gobj_37, |
| 22415 | &cartesian_trajectory_planner_DW.gobj_38, |
| 22416 | &cartesian_trajectory_planner_DW.gobj_39, |
| 22417 | &cartesian_trajectory_planner_DW.gobj_40, |
| 22418 | &cartesian_trajectory_planner_DW.gobj_41, |
| 22419 | &cartesian_trajectory_planner_DW.gobj_42, |
| 22420 | &cartesian_trajectory_planner_DW.gobj_43, |
| 22421 | &cartesian_trajectory_planner_DW.gobj_44, |
| 22422 | &cartesian_trajectory_planner_DW.gobj_45, |
| 22423 | &cartesian_trajectory_planner_DW.gobj_46, |
| 22424 | &cartesian_trajectory_planner_DW.gobj_47, |
| 22425 | &cartesian_trajectory_planner_DW.gobj_48, |
| 22426 | &cartesian_trajectory_planner_DW.gobj_49, |
| 22427 | &cartesian_trajectory_planner_DW.gobj_50, |
| 22428 | &cartesian_trajectory_planner_DW.gobj_1, |
| 22429 | &cartesian_trajectory_planner_DW.gobj_27, |
| 22430 | &cartesian_trajectory_planner_DW.gobj_68, |
| 22431 | &cartesian_trajectory_planner_DW.gobj_83); |
| 22432 | obj_0->Solver = DampedBFGSwGradientProjection_D |
| 22433 | (&cartesian_trajectory_planner_DW.gobj_87); |
| 22434 | obj_1 = obj_0->Solver; |
| 22435 | obj_1->MaxNumIteration = 1500.0; |
| 22436 | obj_1->MaxTime = 10.0; |
| 22437 | obj_1->GradientTolerance = 1.0E-7; |
| 22438 | obj_1->SolutionTolerance = 1.0E-6; |
| 22439 | obj_1->ConstraintsOn = true; |
| 22440 | obj_1->RandomRestart = false; |
| 22441 | obj_1->StepTolerance = 1.0E-14; |
| 22442 | obj_0->matlabCodegenIsDeleted = false; |
| 22443 | emxInitStruct_robotics_slmani_a(&cartesian_trajectory_planner_DW.obj_o); |
| 22444 | emxInitStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_1_n); |
| 22445 | emxInitStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_16_d); |
| 22446 | emxInitStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_15_h); |
| 22447 | emxInitStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_14_i); |
| 22448 | emxInitStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_13_m); |
| 22449 | emxInitStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_12_j); |
| 22450 | emxInitStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_11_h); |
| 22451 | emxInitStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_10_b); |
| 22452 | emxInitStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_9_a); |
| 22453 | emxInitStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_8_h); |
| 22454 | emxInitStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_7_a); |
| 22455 | emxInitStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_6_m); |
| 22456 | emxInitStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_5_c); |
| 22457 | emxInitStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_4_p); |
| 22458 | emxInitStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_3_m); |
| 22459 | emxInitStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_2_d); |
| 22460 | |
| 22461 | // Start for MATLABSystem: '<S2>/MATLAB System' |
| 22462 | cartesian_trajectory_planner_DW.obj_o.isInitialized = 0; |
| 22463 | cartesian_trajectory_planner_DW.obj_o.isInitialized = 1; |
| 22464 | car_RigidBodyTree_RigidBodyTree |
| 22465 | (&cartesian_trajectory_planner_DW.obj_o.TreeInternal, |
| 22466 | &cartesian_trajectory_planner_DW.gobj_2_d, |
| 22467 | &cartesian_trajectory_planner_DW.gobj_4_p, |
| 22468 | &cartesian_trajectory_planner_DW.gobj_5_c, |
| 22469 | &cartesian_trajectory_planner_DW.gobj_6_m, |
| 22470 | &cartesian_trajectory_planner_DW.gobj_7_a, |
| 22471 | &cartesian_trajectory_planner_DW.gobj_8_h, |
| 22472 | &cartesian_trajectory_planner_DW.gobj_9_a, |
| 22473 | &cartesian_trajectory_planner_DW.gobj_3_m); |
| 22474 | } |
| 22475 | } |
| 22476 | |
| 22477 | // Model terminate function |
| 22478 | void cartesian_trajectory_planner_terminate(void) |
| 22479 | { |
| 22480 | // Terminate for Atomic SubSystem: '<Root>/Subscribe' |
| 22481 | // Terminate for MATLABSystem: '<S7>/SourceBlock' |
| 22482 | matlabCodegenHandle_matlabC_ast(&cartesian_trajectory_planner_DW.obj_j); |
| 22483 | |
| 22484 | // End of Terminate for SubSystem: '<Root>/Subscribe' |
| 22485 | |
| 22486 | // Terminate for MATLABSystem: '<S8>/Get Parameter' |
| 22487 | matlabCodegenHandle_matlab_astw(&cartesian_trajectory_planner_DW.obj_k); |
| 22488 | |
| 22489 | // Terminate for MATLABSystem: '<S8>/Get Parameter1' |
| 22490 | matlabCodegenHandle_matlab_astw(&cartesian_trajectory_planner_DW.obj_ky); |
| 22491 | |
| 22492 | // Terminate for MATLABSystem: '<S11>/Get Parameter3' |
| 22493 | matlabCodegenHandle_matlab_astw(&cartesian_trajectory_planner_DW.obj_g); |
| 22494 | |
| 22495 | // Terminate for MATLABSystem: '<S11>/Get Parameter4' |
| 22496 | matlabCodegenHandle_matlab_astw(&cartesian_trajectory_planner_DW.obj_or); |
| 22497 | |
| 22498 | // Terminate for MATLABSystem: '<S11>/Get Parameter5' |
| 22499 | matlabCodegenHandle_matlab_astw(&cartesian_trajectory_planner_DW.obj_dz); |
| 22500 | |
| 22501 | // Terminate for MATLABSystem: '<S11>/Get Parameter6' |
| 22502 | matlabCodegenHandle_matlab_astw(&cartesian_trajectory_planner_DW.obj_di); |
| 22503 | |
| 22504 | // Terminate for MATLABSystem: '<S11>/Get Parameter' |
| 22505 | matlabCodegenHandle_matlab_astw(&cartesian_trajectory_planner_DW.obj_b); |
| 22506 | |
| 22507 | // Terminate for MATLABSystem: '<S11>/Get Parameter1' |
| 22508 | matlabCodegenHandle_matlab_astw(&cartesian_trajectory_planner_DW.obj_e0t); |
| 22509 | |
| 22510 | // Terminate for MATLABSystem: '<S11>/Get Parameter2' |
| 22511 | matlabCodegenHandle_matlab_astw(&cartesian_trajectory_planner_DW.obj_pd); |
| 22512 | |
| 22513 | // Terminate for MATLABSystem: '<S12>/Get Parameter3' |
| 22514 | matlabCodegenHandle_matlab_astw(&cartesian_trajectory_planner_DW.obj_f4); |
| 22515 | |
| 22516 | // Terminate for MATLABSystem: '<S12>/Get Parameter4' |
| 22517 | matlabCodegenHandle_matlab_astw(&cartesian_trajectory_planner_DW.obj_en); |
| 22518 | |
| 22519 | // Terminate for MATLABSystem: '<S12>/Get Parameter5' |
| 22520 | matlabCodegenHandle_matlab_astw(&cartesian_trajectory_planner_DW.obj_l0); |
| 22521 | |
| 22522 | // Terminate for MATLABSystem: '<S12>/Get Parameter6' |
| 22523 | matlabCodegenHandle_matlab_astw(&cartesian_trajectory_planner_DW.obj_n); |
| 22524 | |
| 22525 | // Terminate for MATLABSystem: '<S12>/Get Parameter' |
| 22526 | matlabCodegenHandle_matlab_astw(&cartesian_trajectory_planner_DW.obj_d); |
| 22527 | |
| 22528 | // Terminate for MATLABSystem: '<S12>/Get Parameter1' |
| 22529 | matlabCodegenHandle_matlab_astw(&cartesian_trajectory_planner_DW.obj_oq); |
| 22530 | |
| 22531 | // Terminate for MATLABSystem: '<S12>/Get Parameter2' |
| 22532 | matlabCodegenHandle_matlab_astw(&cartesian_trajectory_planner_DW.obj_es); |
| 22533 | |
| 22534 | // Terminate for MATLABSystem: '<S9>/Get Parameter' |
| 22535 | matlabCodegenHandle_matlab_astw(&cartesian_trajectory_planner_DW.obj_c); |
| 22536 | |
| 22537 | // Terminate for MATLABSystem: '<S9>/Get Parameter1' |
| 22538 | matlabCodegenHandle_matlab_astw(&cartesian_trajectory_planner_DW.obj_f); |
| 22539 | |
| 22540 | // Terminate for MATLABSystem: '<S9>/Get Parameter2' |
| 22541 | matlabCodegenHandle_matlab_astw(&cartesian_trajectory_planner_DW.obj_e0); |
| 22542 | |
| 22543 | // Terminate for MATLABSystem: '<S9>/Get Parameter3' |
| 22544 | matlabCodegenHandle_matlab_astw(&cartesian_trajectory_planner_DW.obj_a); |
| 22545 | |
| 22546 | // Terminate for MATLABSystem: '<S9>/Get Parameter4' |
| 22547 | matlabCodegenHandle_matlab_astw(&cartesian_trajectory_planner_DW.obj_p); |
| 22548 | |
| 22549 | // Terminate for MATLABSystem: '<S9>/Get Parameter5' |
| 22550 | matlabCodegenHandle_matlab_astw(&cartesian_trajectory_planner_DW.obj_l); |
| 22551 | |
| 22552 | // Terminate for MATLABSystem: '<S3>/MATLAB System' |
| 22553 | matlabCodegenHandle_matlabCod_a(&cartesian_trajectory_planner_DW.obj); |
| 22554 | matlabCodegenHandle_matlabCodeg |
| 22555 | (&cartesian_trajectory_planner_DW.obj.IKInternal); |
| 22556 | emxFreeStruct_robotics_slmanip_(&cartesian_trajectory_planner_DW.obj); |
| 22557 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_1); |
| 22558 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_50); |
| 22559 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_49); |
| 22560 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_48); |
| 22561 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_47); |
| 22562 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_46); |
| 22563 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_45); |
| 22564 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_44); |
| 22565 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_43); |
| 22566 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_42); |
| 22567 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_41); |
| 22568 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_40); |
| 22569 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_39); |
| 22570 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_38); |
| 22571 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_37); |
| 22572 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_36); |
| 22573 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_35); |
| 22574 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_34); |
| 22575 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_33); |
| 22576 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_32); |
| 22577 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_31); |
| 22578 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_30); |
| 22579 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_29); |
| 22580 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_28); |
| 22581 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_27); |
| 22582 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_26); |
| 22583 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_25); |
| 22584 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_24); |
| 22585 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_23); |
| 22586 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_22); |
| 22587 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_21); |
| 22588 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_20); |
| 22589 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_19); |
| 22590 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_18); |
| 22591 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_17); |
| 22592 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_16); |
| 22593 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_15); |
| 22594 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_14); |
| 22595 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_13); |
| 22596 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_12); |
| 22597 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_11); |
| 22598 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_10); |
| 22599 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_9); |
| 22600 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_8); |
| 22601 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_7); |
| 22602 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_6); |
| 22603 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_5); |
| 22604 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_4); |
| 22605 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_3); |
| 22606 | emxFreeStruct_c_rigidBodyJoint(&cartesian_trajectory_planner_DW.gobj_2); |
| 22607 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_51); |
| 22608 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_82); |
| 22609 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_81); |
| 22610 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_80); |
| 22611 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_79); |
| 22612 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_78); |
| 22613 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_77); |
| 22614 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_76); |
| 22615 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_75); |
| 22616 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_74); |
| 22617 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_73); |
| 22618 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_72); |
| 22619 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_71); |
| 22620 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_70); |
| 22621 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_69); |
| 22622 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_68); |
| 22623 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_67); |
| 22624 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_66); |
| 22625 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_65); |
| 22626 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_64); |
| 22627 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_63); |
| 22628 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_62); |
| 22629 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_61); |
| 22630 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_60); |
| 22631 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_59); |
| 22632 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_58); |
| 22633 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_57); |
| 22634 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_56); |
| 22635 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_55); |
| 22636 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_54); |
| 22637 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_53); |
| 22638 | emxFreeStruct_w_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_52); |
| 22639 | emxFreeStruct_x_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_83); |
| 22640 | emxFreeStruct_x_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_84); |
| 22641 | emxFreeStruct_f_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_85); |
| 22642 | emxFreeStruct_h_robotics_core_i(&cartesian_trajectory_planner_DW.gobj_86); |
| 22643 | emxFreeStruct_h_robotics_core_i(&cartesian_trajectory_planner_DW.gobj_87); |
| 22644 | emxFreeStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_88); |
| 22645 | emxFreeStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_103); |
| 22646 | emxFreeStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_102); |
| 22647 | emxFreeStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_101); |
| 22648 | emxFreeStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_100); |
| 22649 | emxFreeStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_99); |
| 22650 | emxFreeStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_98); |
| 22651 | emxFreeStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_97); |
| 22652 | emxFreeStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_96); |
| 22653 | emxFreeStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_95); |
| 22654 | emxFreeStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_94); |
| 22655 | emxFreeStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_93); |
| 22656 | emxFreeStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_92); |
| 22657 | emxFreeStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_91); |
| 22658 | emxFreeStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_90); |
| 22659 | emxFreeStruct_v_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_89); |
| 22660 | emxFreeStruct_robotics_slmani_a(&cartesian_trajectory_planner_DW.obj_o); |
| 22661 | emxFreeStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_1_n); |
| 22662 | emxFreeStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_16_d); |
| 22663 | emxFreeStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_15_h); |
| 22664 | emxFreeStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_14_i); |
| 22665 | emxFreeStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_13_m); |
| 22666 | emxFreeStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_12_j); |
| 22667 | emxFreeStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_11_h); |
| 22668 | emxFreeStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_10_b); |
| 22669 | emxFreeStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_9_a); |
| 22670 | emxFreeStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_8_h); |
| 22671 | emxFreeStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_7_a); |
| 22672 | emxFreeStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_6_m); |
| 22673 | emxFreeStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_5_c); |
| 22674 | emxFreeStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_4_p); |
| 22675 | emxFreeStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_3_m); |
| 22676 | emxFreeStruct_n_robotics_manip_(&cartesian_trajectory_planner_DW.gobj_2_d); |
| 22677 | |
| 22678 | // Terminate for Atomic SubSystem: '<Root>/Publish' |
| 22679 | // Terminate for MATLABSystem: '<S6>/SinkBlock' |
| 22680 | matlabCodegenHandle_matlabCo_as(&cartesian_trajectory_planner_DW.obj_kh); |
| 22681 | |
| 22682 | // End of Terminate for SubSystem: '<Root>/Publish' |
| 22683 | } |
| 22684 | |
| 22685 | // |
| 22686 | // File trailer for generated code. |
| 22687 | // |
| 22688 | // [EOF] |
| 22689 | // |
| 22690 | |